Why did HaShem create us and what is our purpose in this world? We might assume that our primary purpose is to fulfill the Torah and its Mitzvot. Yet, our Sages tell us, "We are not created for the Torah, rather, HaShem created the Torah for our benefit." Meaning, the essential reason that HaShem created us, is to grant us the true pleasure of rejoicing in the Splendor of the Shechinah. In this light, HaShem created the Torah as a means for us to earn the ultimate pleasure of eternal life in Gan Eden.
Moral: HaShem created mankind to receive the highest, truest pleasure: delight in the Splendor of HaShem's holy Presence, forever. By fulfilling the Torah and Mitzvot in this world, we merit to receive our eternal share in the World to Come.
Application: Envision Moshe Rabenu learning Torah. See the joy on his countenance as he delights in studying the Torah and sharing the wisdom that HaShem taught him with Klal Yisrael. Sense his inner happiness and excitement in knowing that his Torah study will grant him the merit to delight eternally in splendor of the holy Shechinah of HaShem.
(Based on Mesilat Mesharim and the Perush of Rav Yechezkal Sarna)
