be able to sing well and play guitar simultaneously

This really isn’t a selfish desire. I want to be able to play beautiful music for my King. I want to be able to just stop what I’m doing, pick up a guitar and play a beautiful song, and sing words of praise! I don’t have the best singing voice; I hardly have a nice singing voice. At this point, I can’t keep time while trying to sing. If try to sing the song I’m playing, I end up frustrated and my little praise session goes down the crapper.
I want to make beautiful music for my GOD.