Where does Scripture teach a millennial kingdom on earth where Israel reigns?
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Isaiah 11:1. And there shall come forth a rod out of the stem of Jesse, and a Branch shall grow out of his roots:
2 And the spirit of the Lord shall rest upon him, the spirit of wisdom and understanding, the spirit of counsel and might, the spirit of knowledge and of the fear of the Lord;
3 And shall make him of quick understanding in the fear of the Lord: and he shall not judge after the sight of his eyes, neither reprove after the hearing of his ears:
4 But with righteousness shall he judge the poor, and reprove with equity for the meek of the earth: and he shall smite the earth: with the rod of his mouth, and with the breath of his lips shall he slay the wicked.
5 And righteousness shall be the girdle of his loins, and faithfulness the girdle of his reins.
6 The wolf also shall dwell with the lamb, and the leopard shall lie down with the kid; and the calf and the young lion and the fatling together; and a little child shall lead them.
7 And the cow and the bear shall feed; their young ones shall lie down together: and the lion shall eat straw like the ox.
8 And the sucking child shall play on the hole of the asp, and the weaned child shall put his hand on the cockatrice' den.
9 They shall not hurt nor destroy in all my holy mountain: for the earth shall be full of the knowledge of the Lord, as the waters cover the sea.
10 And in that day there shall be a root of Jesse, which shall stand for an ensign of the people; to it shall the Gentiles seek: and his rest shall be glorious.
11 And it shall come to pass in that day, that the Lord shall set his hand again the second time to recover the remnant of his people, which shall be left, from Assyria, and from Egypt, and from Pathros, and from Cush, and from Elam, and from Shinar, and from Hamath, and from the islands of the sea.
12 And he shall set up an ensign for the nations, and shall assemble the outcasts of Israel, and gather together the dispersed of Judah from the four corners of the earth.
Here of course we The Messiah will call for a remnant of Israel verse 11 says His people. Will be called from all over the earth. As Jeremiah said He will rule in Jerusalem upon David throne. Isaiah says here the root of Jesse will stand as an ensign for the people, the Gentiles shall seek Him in His Kingdom in Jerusalem.
Revelation 20:3 And cast him into the bottomless pit, and shut him up, and set a seal upon him, that he should deceive the nations no more, till the thousand years should be fulfilled: and after that he must be loosed a little season.
4 And I saw thrones, and they sat upon them, and judgment was given unto them: and I saw the souls of them that were beheaded for the witness of Jesus, and for the word of God, and which had not worshipped the beast, neither his image, neither had received his mark upon their foreheads, or in their hands; and they lived and reigned with Christ a thousand years.
Millennial means of course of or relating to a millennium, and millennium is a period of 1000. So for the sake of no argument instead of calling it the millennial reign of Christ we can call it what Revelation says, the 1000 year reign of Christ. They lived, which is physical life, with Him 1000 years. Notice here too satan is bound so he cannot deceive the nations, another reference to the earth. All indicate a 1000 (millennium) reign of Christ and by the Old Testament Prophets, Isaiah and Jeremiah we see it was to be a reign in Jerusalem by the Messiah, the root of Jesse, upon David's throne. Scripture is real clear on this.
Matthew 19:28 And Jesus said unto them, Verily I say unto you, That ye which have followed me, in the regeneration when the Son of man shall sit in the throne of his glory, ye also shall sit upon twelve thrones, judging the twelve tribes of Israel.
The apostles interpreted this to mean they would reign with Him on earth ans be rulers of Israel. Again Israel as a nation on eARTH.