The Westminster shorter catechism states:
Q. What is the chief end of man?
A. To glorify God and enjoy Him forever!
The Heidelberg Catechism takes a more somber view of man and tackles the question as a follow up
Q. Did God create people so wicked and perverse?
God created them good and in his own image, that is, in true righteousness and holiness, so that they might truly know God their creator, love him with all their heart, and live with God in eternal happiness, to praise and glorify him.
It was a little difficult to find this is Luther's Small Catechism, but I believe
I believe in God the Father Almighty, Maker of heaven and earth. What does this mean?
I believe that God has made me and all creatures; ... out of pure, fatherly, divine goodness and mercy, without any merit or worthiness in me; for all which I owe it to Him to thank, praise, serve, and obey Him. This is most certainly true
Most closely answers the question (although there is a lot of stuff in the middle that seems difficult to memorize)