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Will we inhabit heaven or the new earth for eternity?

A user on our mobile app asked,

“In this paradise that we will be in, is it here on earth or is it in heaven? Jesus said I am going to my Father’s house to build a room for you and when I’m done I will come back for you. Does that mean we are going to heaven? The Bible also says there will be new heaven and new earth, does that mean we will stay on earth?”

Watch the video below to hear Stuart’s response: