Eternal life on earth?
The easiest way to explain this is by the two resurrections. The first resurrection is the"better resurrection" and it is a heavenly one. It is the resurrection of Christ's Bride who are presented by the number "144,000". These are kings and priests. That number is probably symbolic, however, likely the true number is X10, ten being an earthly number; thus 1,440,000.
These are to the kings and priests, as noted, but of whom? Thus the other side of the question is answered. They will be kings and priests of the rest of mankind. First during the 1000 years after Armageddon of those who have not yet been granted eternal life. These must live through the 1000 years and then be tested one last time by Satan. Those who pass the test will enter JUDGMENT DAY which follows immediately after Satan has been destroyed in the lake of fire. These are the "dead, the great and the small" who then get eternal life.
Then there is a resurrection, the second resurrection, a general resurrection during Judgment Day of both the righteous and the unrighteous. All the rest of dead mankind thus come back to be judged. Many have already been judged as "righteous" having their names already written in the "book of life". These are the "righteous ones" the meek ones who will now possess the earth and inhabit it forever. Of course, the unrighteous ones will now receive their judgment and be tossed into the lake of fire with their father, the Devil and all the wicked angels. Thus, the lake of fire is also called the "second death" for the wicked; this being their final death.
Sooooo...the righteous who eventually inherit the earth will fulfill this scripture. With all humans now alive at the same time, these righteous resurrected ones will see the final judgment of the wicked and they will then possess the earth forever in pefect health.
Once all the judging is over and the righteous now approved to go to the trees of life, then the Bride Class of Christ will undergo so so-called "rapture" where they will meet Christ in the air to become spirit beings in Heaven.
One detail that must be understood for this chronology, though, is that the first resurrection is first back into the flesh since Christ and the Bride Class of 144K (1,440,000) will be in the flesh on the earth for the 1000 years after Armageddon and also for Judgment Day in which they will participate. Only at the very end, when it is said that "death is no more" which is when the last wicked one has paid their penalty will the Bride Class then go to heaven and put on spiritual bodies. "But first is the fleshly...then the spirit." (1 Cor. 15:)