Only the children of God will inherit the (new) earth, all the others, are of the flesh, and not of the Spirit.
God's plan is not to reign on this earth on an earthly throne of David, Daivid is dead and buried and His tomb was with the Jews.
David is with the Lord in Heaven, and reigns with Him there.
And that is where Jesus is and where He will remain and reign there until this here, in v20
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14 But you denied the Holy One and the Just, and asked for a murderer to be granted to you, 15 and killed the [
b]Prince of life, whom God raised from the dead, of which we are witnesses. 16 And His name, through faith in His name, has made this man strong, whom you see and know. Yes, the faith which
comes through Him has given him this perfect soundness in the presence of you all.
17 “Yet now, brethren, I know that you did
it in ignorance, as
did also your rulers. 18 But those things which God foretold by the mouth of all His prophets, that the Christ would suffer, He has thus fulfilled. 19 Repent therefore and be converted, that your sins may be blotted out, so that times of refreshing may come from the presence of the Lord,
20 and that He may send [c]Jesus Christ, who was [d]preached to you before, 21 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 [e]the world began. 22 For Moses truly said to the fathers, ‘The Lord your God will raise up for you a Prophet like me from your brethren. Him you shall hear in all things, whatever He says to you. 23 And it shall be
that every soul who will not hear that Prophet shall be utterly destroyed from among the people.’ 24 Yes, and all the prophets, from Samuel and those who follow, as many as have spoken, have also [
f]foretold these days. 25 You are sons of the prophets, and of the covenant which God made with our fathers, saying to Abraham, ‘And in your seed all the families of the earth shall be blessed.’ 26 To you first, God, having raised up His Servant Jesus, sent Him to bless you, in turning away every one
of you from your iniquities.”
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That restoration of ALL things is when God restores the earth and the heavens, and it won't be this first earth getting destroyed, according to Peter who spoke these words, the present earth is doomed to fiery destruction, will melt, and pass away when Christ returns, read 2 Peter 3.
Revelation 21
5 And he that sat upon the throne said, Behold,
I make all things new. And he said unto me, Write: for these words are true and faithful.
Christ actually states what happens at His return when He comes.
v26, Christ warns us of false prophets who will come in His name.
v27 Christ sets the stage of His coming back
v28 there is mass death and destruction of people
v29 His coming ends the tribulation immediately, signs will appear in the heavens
v30 Then He will be seen coming in the clouds of Heaven
v31, Christ raptures the church, all His people are gathered from heaven and on earth to Him.
v33 we will know His return is close as the signs are in the heavens, and they are obvious to the church of God.
v35 Heaven and earth pass away
v37, all the wicked and unbelieving are killed at His return
v48 and onwards, evil servants will not be watching, they do evil things and end up with the hypocrites, cause that is who they are.
Matthew 24
26 Wherefore if they shall say unto you, Behold, he is in the desert; go not forth: behold, he is in the secret chambers; believe it not.
27 For as the lightning cometh out of the east, and shineth even unto the west; so shall also the coming of the Son of man be.
28 For wheresoever the carcase is, there will the eagles be gathered together.
29 Immediately after the tribulation of those days shall the sun be darkened, and the moon shall not give her light, and the stars shall fall from heaven, and the powers of the heavens shall be shaken:
30 And then shall appear the sign of the Son of man in heaven: and then shall all the tribes of the earth mourn, and they shall see the Son of man coming in the clouds of heaven with power and great glory.
31 And he shall send his angels with a great sound of a trumpet, and they shall gather together his elect from the four winds, from one end of heaven to the other.
32 Now learn a parable of the fig tree; When his branch is yet tender, and putteth forth leaves, ye know that summer is nigh:
33 So likewise ye, when ye shall see all these things, know that it is near, even at the doors.
34 Verily I say unto you, This generation shall not pass, till all these things be fulfilled.
35 Heaven and earth shall pass away, but my words shall not pass away.
36 But of that day and hour knoweth no man, no, not the angels of heaven, but my Father only.
37 But as the days of Noah were, so shall also the coming of the Son of man be.
38 For as in the days that were before the flood they were eating and drinking, marrying and giving in marriage, until the day that Noe entered into the ark,
39 And knew not until the flood came, and took them all away; so shall also the coming of the Son of man be.
40 Then shall two be in the field; the one shall be taken, and the other left.
41 Two women shall be grinding at the mill; the one shall be taken, and the other left.
42 Watch therefore: for ye know not what hour your Lord doth come.
43 But know this, that if the goodman of the house had known in what watch the thief would come, he would have watched, and would not have suffered his house to be broken up.
44 Therefore be ye also ready: for in such an hour as ye think not the Son of man cometh.
45 Who then is a faithful and wise servant, whom his lord hath made ruler over his household, to give them meat in due season?
46 Blessed is that servant, whom his lord when he cometh shall find so doing.
47 Verily I say unto you, That he shall make him ruler over all his goods.
48 But and if that evil servant shall say in his heart, My lord delayeth his coming;
49 And shall begin to smite his fellowservants, and to eat and drink with the drunken;
50 The lord of that servant shall come in a day when he looketh not for him, and in an hour that he is not aware of,
51 And shall cut him asunder, and appoint him his portion with the hypocrites: there shall be weeping and gnashing of teeth.