That’s awesome! I don’t think it’s always necessary to worship our ancestors (some of ours may have been terrible people…) but Congratulations on connecting with your spiritual path either way! 
Regarding ancestor veneration in the Norse tradition, there are some good resources online for learning such as:
We had a discussion in the Forum about this topic here: Experiences with the Norse Deities
A starting point could be welcoming the dísir into your life. They are female spirits (some consider them goddesses) of the kin, who guard the family. There is considerable evidence that the dísir were worshipped in Scandinavia in pagan times.
Another aspect of the Norse tradition is the Blót, a celebration or feast where the gods and goddesses were honored, mostly by drinking in their name. (and with animal blood sacrifices too.)
There are a few living traditions of Norse pagans that you may want to research:
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Ásatrú, which translates as “Æsir belief”—the Æsir being a sub-set of deities in Norse mythology. You’ll have to watch out for the white supremacist beliefs embedded in some Ásatrú groups.
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There are Reconstructonist Norse Heathens, which as far as I understand are the most orthodox and dogmatic of all.
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And then there are Norse Heathens and Pagans that come in all sorts of flavors, including the eclectic ones, the Wiccan-ish ones, and everything else. There is no unanimously accepted theology within the Heathen movement.