We do not expect the terms doubt and worship to be spoken or written in the same context. The essence of doubt is hesitation, which is to experience an inner caution or reluctance to commit. The fundamental idea of worship, however, is to trust, adore, and give allegiance to one who is worthy of worship. It would be assumed that these words are mutually exclusive, but they are actually used together by Matthew in two extraordinary narratives.
I don't have sufficient words to speak of the reality of being where Jesus was in a boat 2000 years ago overlooking the places where most of His earthly ministry was spent. When we got to the middle of the sea, we sat there for a bit while the words from Luke 8 of Jesus calming theon the Sea of Galilee and Matthew 11:20-30 were read (we could see Chorazin, Bethsaida, and Capernaum). We then sang “It is Well With my Soul” as a group, and it brought tears to my eyes as emotion washed over me.