How to view all posts in series of pages?

Can anyone help with this? I want to be able to add a link on the bottom of my blog, under that last homepage post, to keep viewing posts with a previous posts link. I don’t want just a list of post titles, but rather to continue the blog with the previous 10 full posts, like the homepage, etc etc. So that users can read back as far as they want without having to resorts to archives. Is there a setting in WordPress that can do this? I have seen on other blogs, but don’t know how to do in WordPress. Thanks Guys.