At the end of revelation the new Jerusalem is revealed and god dwells with human beings "on earth" forever.
The New Jerusalem, which is likewise called the Tabernacle of God, the Holy City, the City of God, the Celestial City, the City Foursquare, and Heavenly Jerusalem, is truly paradise on earth.
After the re-creation, God uncovers the New Jerusalem. The Holy City, the new Jerusalem, descending out of paradise from God, arranged as a lady of the hour wonderfully dressed for her husband. This is the city that Abraham searched for in confidence. It is where God will stay with His kin always. Tenants of this heavenly city will have all tears wiped away.