Jesus shall return to the earth to gather His Bride, the Church, but He will not set foot on earth at that time. "17 then we that are alive, that are left, shall together with them be caught up in the clouds, to meet the Lord in the air: and so shall we ever be with the Lord."
1 Thess 4:17 (ASV). That is His first coming, and that is what He's talking about in the parables you have mentioned, His first coming. After the Tribulation, He will return to the earth physically
As you say, what is most important is that we believe that He is Who He proclaims to be, the Messiah, the Son of the Living God, Savior of the world. It is not enough to just believe that, as He commanded us in Matthew to be His evangelists, to spread His Word to the world, and that certainly includes His warning to be ready. That is essentially what this thread started out as, a reminder to all that He is coming...maybe not tonight, or tomorrow, but He is certainly coming.



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