Qarav means to draw near, approach, or come close. It occurs about 280 times in the OT. The related noun qorban (offering, H7133) means literally "that which is brought near" — what you carry forward to present to God.
The verb covers a wide range: armies drawing near in battle (Genesis 12:11), a person approaching another in intimacy, a worshiper approaching the sanctuary — and, most theologically rich, creatures approaching the holy God.
The entire sacrificial system is built on qarav. Leviticus's opening word is essentially "When any of you draws near to the LORD with an offering (qorban)…" (Leviticus 1:2). Worship is qarav — the act of drawing close to the holy God in the only way that is safe: through blood atonement.
The Levitical priests "drew near" (qarav) to God as their vocation — they were the mediators of nearness. Only the high priest could "draw near" to the Most Holy Place on Yom Kippur. The limitation on access to God's presence was the dominant structure of OT worship.
Hebrews 4:16 and 10:22 issue the New Covenant invitation: "Let us draw near (Greek proserchomai) to the throne of grace with confidence." Christ's high priesthood permanently removes the barrier. Qarav is now open to all who come through Him.