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In spiritual terminology, piety is a virtue that may include religious devotion, spirituality, or a mixture of both. A common element in most conceptions of piety is humility and religiosity.
In Elizabethan English piety (like the Latin pietas) could be used of devotion to one's parents (as still in the phrase filial piety), as well as of devotion to God. Hence, there is no explicit statement here that filial devotion is one form of divine worship.