Yes, the Bible discusses these things and it says Jesus is coming back to earth to rule over God's kingdom. There is nothing about anyone going to heaven.
Jesus did call a ' little flock ' of his followers to govern in heaven with him over Earth. - Luke 22:28-30
They are also the saints or holy ones of Daniel chapter 7.
They are part of the first or earlier resurrection - Revelation 20:6
The majority of people will have a happy-and-healthy future physical resurrection back to life on Earth.
That is why the ' future tense ' is used at Acts of the Apostles 24:15 that ' there is going to be ' a resurrection.....