The Bible teaches clearly that the kingdom of God preached by Jesus and his apostles will be the restored kingdom of David upon the earth.
Gabriel told Mary:
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.
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.
God’s glory will be in the form of men and women given the divine nature and made equal to the angels, in whom and with whom God will live.
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.
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.
God promised Abraham and his descendants an eternal inheritance on the earth.
Genesis 13:15 For all the land which thou seest, to thee will I give it, and to thy seed for ever.
Those who are baptised into Jesus Christ become Abraham’s seed and heirs of this promise.
Galatians 3:27 For as many of you as have been baptized into Christ have put on Christ. 28 There is neither Jew nor Greek, there is neither bond nor free, there is neither male nor female: for ye are all one in Christ Jesus. 29 And if ye be Christ’s, then are ye Abraham’s seed, and heirs according to the promise.
So we read:
Psalms 25:13 His soul shall dwell at ease; and his seed shall inherit 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…
Which is confirmed by Jesus:
Matthew 5:5 Blessed are the meek: for they shall inherit the earth.
When Jesus returns, he will rule the earth in righteousness for 1000 years.
Psalm 2 will have its fulfilment
Psalms 2:1 Why do the heathen rage, and the people imagine a vain thing? 2 The kings of the earth set themselves, and the rulers take counsel together, against the LORD, and against his anointed, saying, 3 Let us break their bands asunder, and cast away their cords from us. 4 He that sitteth in the heavens shall laugh: the Lord shall have them in derision. 5 Then shall he speak unto them in his wrath, and vex them in his sore displeasure. 6 Yet have I set my king upon my holy hill of Zion. 7 I will declare the decree: the LORD hath said unto me, Thou art my Son; this day have I begotten thee. 8 Ask of me, and I shall give thee the heathen for thine inheritance, and the uttermost parts of the earth for thy possession. 9 Thou shalt break them with a rod of iron; thou shalt dash them in pieces like a potter’s vessel. 10 Be wise now therefore, O ye kings: be instructed, ye judges of the earth. 11 Serve the LORD with fear, and rejoice with trembling. 12 Kiss the Son, lest he be angry, and ye perish from the way, when his wrath is kindled but a little. Blessed are all they that put their trust in him.
Isaiah 2 will have its fulfilment:
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.
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 (the 1000-year 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. 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.
There is a resurrection and judgment at both the beginning and the end of Christ’s 1000-year reign. Sin and death will then be eradicated and all who live on will have eternal life
God will be ‘all in all’ on the earth.
In Revelation the body of faithful believers is described both as ‘new Jerusalem’ and the bride of Christ.
Revelation 3:12 Him that overcometh will I make a pillar in the temple of my God, and he shall go no more out: and I will write upon him the name of my God, and the name of the city of my God, which is new Jerusalem, which cometh down out of heaven from my God: and I will write upon him my new name.
Revelation 21:2 And I John saw the holy city, new Jerusalem, coming down from God out of heaven, prepared as a bride adorned for her husband.
This is symbolic language, the body of believers is not a literal ‘bride’ and likewise there is no literal descent of a body of believers from heaven, because believers don’t go to heaven.
The symbology represents the giving of eternal life; described by Paul as a house from heaven.
2 Corinthians 5:2 For in this we groan, earnestly desiring to be clothed upon with our house which is from heaven: 3 If so be that being clothed we shall not be found naked. 4 For we that are in this tabernacle do groan, being burdened: not for that we would be unclothed, but clothed upon, that mortality might be swallowed up of life.
When we die, we remain unconscious in the grave awaiting the resurrection at the return of Jesus.
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.
For this reason, death is likened to sleep.
1 Kings 2:10 So David slept with his fathers, and was buried in the city of David.
Acts 7:60 And he (Stephen) kneeled down, and cried with a loud voice, Lord, lay not this sin to their charge. And when he had said this, he fell asleep.
We all experience the unconsciousness of sleep.
May I suggest that you read:
The Kingdom of God on Earth https://www.thisisyourbible.com/admin/media/170
After Death – What? https://www.thisisyourbible.com/library/show/43
If you then have further questions, please ask.
I hope you find this helpful.