Here is a traditional prayer for Palm Sunday that helpfully conveys how Jesus’ triumphal entry into Jerusalem relates to our lives and worship today:
It is right to praise You, Almighty God, for the acts of love by which You have redeemed us through Your Son Jesus Christ our Lord. On this day He entered the holy city of Jerusalem in triumph, and was proclaimed as King of kings by those who spread their garments and branches of palm along His way. Let these branches be for us signs of victory, and grant that we who bear them in His name may ever hail Him as our King, and follow Him in the way that leads to eternal life; who lives and reigns in glory with You and the Holy Spirit, now and forever. Amen.