The destination is paradise which is the 3rd heaven where the throne of the Father and the throne of the Son to His right sit:
Luke 23:40-43 But the other answered, and rebuking him said, Dost thou not even fear God, seeing thou art in the same condemnation? (41) And we indeed justly; for we receive the due reward of our deeds: but this man hath done nothing amiss. (42) And he said, Jesus, remember me when thou comest in thy kingdom. (43) And he said unto him, Verily I say unto thee, To-day shalt thou be with me in Paradise.
2 Corinthians 12:1-4 I must needs glory, though it is not expedient; but I will come to visions and revelations of the Lord. (2) I know a man in Christ, fourteen years ago (whether in the body, I know not; or whether out of the body, I know not; God knoweth), such a one caught up even to the third heaven. (3) And I know such a man (whether in the body, or apart from the body, I know not; God knoweth), (4) how that he was caught up into Paradise, and heard unspeakable words, which it is not lawful for a man to utter.
Revelation 2:7 He that hath an ear, let him hear what the Spirit saith to the churches. To him that overcometh, to him will I give to eat of the tree of life, which is in the Paradise of God.
Revelation 3:21-22 He that overcometh, I will give to him to sit down with me in my throne, as I also overcame, and sat down with my Father in his throne. (22) He that hath an ear, let him hear what the Spirit saith to the churches.
So yes we will be worshiping both the Father and His Son Jesus in heaven as all of creation will be:
Revelation 5:1-14 And I saw in the right hand of him that sat on the throne a book written within and on the back, close sealed with seven seals. (2) And I saw a strong angel proclaiming with a great voice, Who is worthy to open the book, and to loose the seals thereof? (3) And no one in the heaven, or on the earth, or under the earth, was able to open the book, or to look thereon. (4) And I wept much, because no one was found worthy to open the book, or to look thereon: (5) and one of the elders saith unto me, Weep not; behold, the Lion that is of the tribe of Judah, the Root of David, hath overcome to open the book and the seven seals thereof. (6) And I saw in the midst of the throne and of the four living creatures, and in the midst of the elders, a Lamb standing, as though it had been slain, having seven horns, and seven eyes, which are the seven Spirits of God, sent forth into all the earth. (7) And he came, and he taketh it out of the right hand of him that sat on the throne. (8) And when he had taken the book, the four living creatures and the four and twenty elders fell down before the Lamb, having each one a harp, and golden bowls full of incense, which are the prayers of the saints. (9) And they sing a new song, saying, Worthy art thou to take the book, and to open the seals thereof: for thou wast slain, and didst purchase unto God with thy blood men of every tribe, and tongue, and people, and nation, (10) and madest them to be unto our God a kingdom and priests; and they reign upon the earth. (11) And I saw, and I heard a voice of many angels round about the throne and the living creatures and the elders; and the number of them was ten thousand times ten thousand, and thousands of thousands; (12) saying with a great voice, Worthy is the Lamb that hath been slain to receive the power, and riches, and wisdom, and might, and honor, and glory, and blessing. (13) And every created thing which is in the heaven, and on the earth, and under the earth, and on the sea, and all things that are in them, heard I saying, Unto him that sitteth on the throne, and unto the Lamb, be the blessing, and the honor, and the glory, and the dominion, for ever and ever. (14) And the four living creatures said, Amen. And the elders fell down and worshipped.