Did God create man to worship and praise Him?

I heard it many times from some Christians and even preachers that God created us to worship and praise Him. I think this idea came from the fact that Psalms contain many phrases like *"Praise the Lord"* and many words related to worship. I'm still not convinced with verses from Psalms that the **main purpose** of creating us was to praise and worship God. The purpose of creating human, as I see from Genesis 1:28 is to *multiply, fill the earth and subdue it.* Is there any verses from the Bible that clearly indicates we were created mainly to praise and worship God?