Will believers return to earth during the Millennial Kingdom (Jesus’ 1000 year reign)?
Absolutely! Not only will we return with Him, the Bible says we will actually reign with Him. Check out the following passages:
When Christ, who is your life, appears, then you also will appear with him in glory. Colossians 3:4 (NIV) Blessed and holy are those who have part in the first resurrection. The second death has no power over them, but they will be priests of God and of Christ and will reign with him for a thousand years. Revelation 20:6 (NIV)