There are two groups of people, 144,000 that will go to heaven to rule with Jesus and will return after Armageddon. The rest that will reside on Earth.
It's in Revelations Revelation 21 I saw the Holy City, the new Jerusalem, coming down out of heaven from God. [...] “Look! God’s dwelling place is now among the people, and he will dwell with them.
Even in the beginning, Humans were created on Earth, not in Heaven. We were to live on Earth eternally.