The idea that people go to heaven is not supported in the Bible.
Only Jesus goes to heaven and that was not at death, it was after his resurrection.
John 3:13 And no man hath ascended up to heaven, but he that came down from heaven, even the Son of man which is in heaven.
We cannot go to heaven.
John 13:33 Little children, yet a little while I am with you. Ye shall seek me: and as I said unto the Jews, Whither I go, ye cannot come; so now I say to you.
The kingdom of Heaven (or the kingdom of God) is to be on the earth.
This is seen in the ‘Lord’s prayer’:
Matthew 6:10 Thy kingdom come. Thy will be done in earth, as it is in heaven.
When God’s kingdom is established, God’s will will be done on the earth in the same way that it is now done in heaven.
God’s kingdom will be the restored kingdom of David upon the earth.
Luke 1:32 He shall be great, and shall be called the Son of the Highest: and the Lord God shall give unto him the throne of his father David: 33 And he shall reign over the house of Jacob for ever; and of his kingdom there shall be no end.
Jesus will return from heaven to raise and judge the dead.
John 5:28 Marvel not at this: for the hour is coming, in the which all that are in the graves shall hear his voice, 29 And shall come forth; they that have done good, unto the resurrection of life; and they that have done evil, unto the resurrection of damnation (condemnation).
The faithful will be given eternal life upon the earth.
Psalms 37:9 For evildoers shall be cut off: but those that wait upon the LORD, they shall inherit the earth.
Psalms 37:11 But the meek shall inherit the earth; and shall delight themselves in the abundance of peace.
Psalms 37:22 For such as be blessed of him shall inherit the earth; and they that be cursed of him shall be cut off.
Matthew 5:5 Blessed are the meek: for they shall inherit the earth.
The unfaithful will die again.
Jesus will rule the earth from Jerusalem.
Isaiah 2:1 The word that Isaiah the son of Amoz saw concerning Judah and Jerusalem. 2 And it shall come to pass in the last days, that the mountain of the LORD’S house shall be established in the top of the mountains, and shall be exalted above the hills; and all nations shall flow unto it. 3 And many people shall go and say, Come ye, and let us go up to the mountain of the LORD, to the house of the God of Jacob; and he will teach us of his ways, and we will walk in his paths: for out of Zion shall go forth the law, and the word of the LORD from Jerusalem. 4 And he shall judge among the nations, and shall rebuke many people: and they shall beat their swords into plowshares, and their spears into pruninghooks: nation shall not lift up sword against nation, neither shall they learn war any more.
Christ’s reign over the mortal population will last one thousand years.
Revelation 20:6 Blessed and holy is he that hath part in the first resurrection: on such the second death hath no power, but they shall be priests of God and of Christ, and shall reign with him a thousand years.
At the end of the millennial reign there will be a second resurrection and final judgment and all who live on will have eternal life.
God created the earth to be inhabited.
Isaiah 45:18 For thus saith the LORD that created the heavens; God himself that formed the earth and made it; he hath established it, he created it not in vain, he formed it to be inhabited: I am the LORD; and there is none else.
God’s purpose is to fill the earth with his glory.
Numbers 14:21 But as truly as I live, all the earth shall be filled with the glory of the LORD.
This glory will be in the form of men and women raised from the dead and given the divine nature.
2 Peter 1:4 Whereby are given unto us exceeding great and precious promises: that by these ye might be partakers of the divine nature, having escaped the corruption that is in the world through lust.
The dead do not go to heaven; they remain in the grave awaiting resurrection at the return of Christ.
This is likened to sleep.
Daniel 12:2 And many of them that sleep in the dust of the earth shall awake, some to everlasting life, and some to shame and everlasting contempt.
1 Thessalonians 4:14 For if we believe that Jesus died and rose again, even so them also which sleep in Jesus will God bring with him.
The faithful will be raised and made equal unto the angels.
There will be no marriage or reproduction.
Matthew 22:30 For in the resurrection they neither marry, nor are given in marriage, but are as the angels of God in heaven.
Mark 12:25 For when they shall rise from the dead, they neither marry, nor are given in marriage; but are as the angels which are in heaven.
Luke 20:35 But they which shall be accounted worthy to obtain that world, and the resurrection from the dead, neither marry, nor are given in marriage:
God will dwell in and with his people.
Paul explains what is going to happen.
1 Corinthians 15:20 But now is Christ risen from the dead, and become the firstfruits of them that slept. 21 For since by man came death, by man came also the resurrection of the dead. 22 For as in Adam all die, even so in Christ shall all be made alive. 23 But every man in his own order: Christ the firstfruits; afterward they that are Christ’s at his coming. 24 Then cometh the end, when he shall have delivered up the kingdom to God, even the Father; when he shall have put down all rule and all authority and power. 25 For he must reign, till he hath put all enemies under his feet. 26 The last enemy that shall be destroyed is death. 27 For he hath put all things under his feet (the millennial reign). But when he saith all things are put under him, it is manifest that he is excepted, which did put all things under him. 28 And when all things shall be subdued unto him, then shall the Son also himself be subject unto him that put all things under him, that God may be all in all.
This time is described in Revelation.
Revelation 21:3 And I heard a great voice out of heaven saying, Behold, the tabernacle of God is with men, and he will dwell with them, and they shall be his people, and God himself shall be with them, and be their God. 4 And God shall wipe away all tears from their eyes; and there shall be no more death, neither sorrow, nor crying, neither shall there be any more pain: for the former things are passed away.
I hope you find this helpful.