Yes, for movement, that’s the difference between the two. Thanks, @Paige and @stephencanthony. I’d just add that there is no specific cutoff point, in terms of duration, where you start to use ‘para’ instead of ‘a’. So, don’t expect consistency from one person to another or even for the same person.
Also, because of this vagueness, the duration that each preposition implies is quite context-dependent. For example, many people might say “Vou para a escola” (I’ll go to school) to say that they’re going to have a full day of classes (which is several hours), and then say “Vou à escola” if they’re just quickly dropping by, maybe to pick something/someone up or meet with a teacher (maybe one hour or less). On the other hand, if you’re going on vacation/holiday, you may choose to say 'Vou a [X place]", even if you’re staying for weeks. You’d say 'Vou para [X place]" if it were a permanent move.