Will the Kingdom of God be in heaven or earth?

I am continuosly confused about the kingdom of God to come. Some places in the bible say it’s in heaven but some say on earth. I was reading Revelations and on chapter 5 verse 10 the elders sing " And has made us to our God a kingdom priests, and we shall reign on earth." But in Matthew 16:19 it says that Peter is given the keys to the kingdom of heaven. I can go on and on but i’ll only get more confused. Can you please help me understand. Thank you, Vilmarie Villanueva

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