The actual return of Jesus to the earth in bodily form is a clear promise by Jesus to those whom he called Apostles.
“Then the sign of the Son of Man will appear in heaven, and then all the tribes of the earth will mourn, and they will see the Son of Man coming on the clouds of heaven with power and great glory” (Matthew 24:30).
“When the Son of Man comes in His glory, and all the holy angels with Him, then He will sit on the throne of His glory” (Matthew 25:31).
The angels who appeared at his ascension reiterated the promise.
“And while they looked steadfastly toward heaven as He went up, behold, two men stood by them in white apparel, who also said, “Men of Galilee, why do you stand gazing up into heaven? This same Jesus, who was taken up from you into heaven, will so come in like manner as you saw him go into heaven” (Acts 1:10,11).
Likewise, the apostles subsequently taught believers of the early church the same doctrine.
“. . . that He may send Jesus Christ, who was preached to you before, whom heaven must receive until the times of restoration of all things, which God has spoken by the mouth of all His holy prophets since the world began” (Acts 3:20,21).
“I charge you therefore before God and the Lord Jesus Christ, who will judge the living and the dead at his appearing and his kingdom” (2 Timothy 4:1).
The return of Jesus will occur at a time appointed by God. It will result in the establishment of the universal Kingdom of God on the earth, initially ruled over by Jesus himself.
“. . . because He has appointed a day on which He will judge the world in righteousness by the man whom He has ordained. He has given assurance of this to all by raising him from the dead”
“Then the seventh angel sounded: and there were loud voices in heaven, saying, ‘The kingdoms of this world have become the kingdoms of our Lord and of His Christ, and he shall reign forever and ever!’” (Revelation 11:15).
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(Quotations are from the New King James version of the Bible)