It is not God who will return it is his Son Jesus Christ.
The rapture is a false doctrine. No one will be taken to heaven. The kingdom of God will be the restored kingdom of David upon the earth.
The angel Gabriel told Mary:
Luke 1:31 "And behold, you will conceive in your womb and bring forth a Son, and shall call His name JESUS. 32 "He will be great, and will be called the Son of the Highest; and the Lord God will give Him the throne of His father David. 33 "And He will reign over the house of Jacob forever, and of His kingdom there will be no end."
The prophecy of Isaiah must be fulfilled
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.
What God requires of us is that we read the scriptures and understand and believe the gospel preached by his Son and his apostles.
When we understand and believe the gospel we are required to obey it - to repent of our sinful way of life (change the way that we live), be baptised by immersion in water into Jesus Christ for the remission of past sins and then live a new life by his commandments.
We cannot live a sinless life, but if we obey the gospel and make a determined effort to live by Christ’s commandments, we are promised forgiveness for our failures.
1 John 1:7 But if we walk in the light (i.e. live by his commandments) as He is in the light, we have fellowship with one another, and the blood of Jesus Christ His Son cleanses us from all sin. 8 If we say that we have no sin, we deceive ourselves, and the truth is not in us. 9 If we confess our sins, He is faithful and just to forgive us our sins and to cleanse us from all unrighteousness.
May I suggest that you read ‘Your Share in God’s Promises’ here:
And ‘Salvation’ here:
I hope you find this helpful.