And I heard a loud voice from the throne saying, ‘Behold, the dwelling place of God is with man. He will dwell with them, and they will be his people, and God himself will be with them as their God’.  (Revelation 21:3)

John the Apostle receives a vision: 

Then I saw a new heaven and a new earth, for the first heaven and the first earth had passed away, and the sea was no more. And I saw the holy city, new Jerusalem, coming down out of heaven from God, prepared as a bride adorned for her husband. (ibid 21:1-2)

In this new earth, God will dwell with his people.  The word ‘dwell’ translates a Greek verb σκηνόω skénoó, which literally means to camp, to live in a tent and in some versions is ‘to tabernacle’, referencing the Holy Tent in which God dwelt with his people Israel in Sinai.