The Kingdom of God on earth is a recurring theme throughout the Bible. Historically, this divine kingdom was embodied in the kingdom of Israel which was ruled over by a succession of human kings, before it was overturned by God because these kings refused to follow His wishes
“And of all my sons (for the LORD has given me many sons) He has chosen my son Solomon to sit on the throne of the kingdom of the LORD over Israel” (1 Chronicles 28:5).
“. . . Then Jeroboam drove Israel from following the LORD, and made them commit a great sin. For the children of Israel walked in all the sins of Jeroboam which he did; they did not depart from them, until the LORD removed Israel out of His sight, as He had said by all His servants the prophets. So Israel was carried away from their own land to Assyria, as it is to this day” (2 Kings 17:21-23).
The Bible also makes clear that at a time in the future God will re-establish on the earth a kingdom, which will be one universal kingdom.
“‘Now to you, O profane, wicked prince of Israel, whose day has come, whose iniquity shall end, thus says the Lord God: “Remove the turban, and take off the crown; nothing shall remain the same. Exalt the humble, and humble the exalted. Overthrown, overthrown, I will make it overthrown! It shall be no longer, until He comes whose right it is, and I will give it to Him”” (Ezekiel 21:25-27).
“And in the days of these kings the God of heaven will set up a kingdom which shall never be destroyed; and the kingdom shall not be left to other people; it shall break in pieces and consume all these kingdoms, and it shall stand forever” (Daniel 2:44).
This divinely established, eternal kingdom will be ruled over by a man appointed by God, the Lord Jesus. Who is to return to the earth firstly to set up it up and then to rule over it on God's behalf in accord with God's wishes.
“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).
“And behold, you will conceive in your womb and bring forth a son, and shall call His name Jesus. 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” (Luke 1:31,32).
“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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"All scripture is God-breathed and is useful for teaching, rebuking, correcting and training in righteousness, so that the man of God may be thoroughly equipped for every good work"
2 Timothy 3:16-17 NIV