This is a very positive question about our Lord's promised return. When Jesus returns, He 1) gathers his faithful saints and (2) restores earth and mankind to the peace and harmony that was in the Garden of Eden before Adam sinned.
In John 5:28, 29, Jesus said that there would be two resurrections: "Marvel not at this: for the hour is coming, in which all that are in the graves shall hear his voice, And shall come forth; they that have done good, unto the resurrection of life [a heavenly reward] and they that have done evil, unto the resurrection of judgment." The word "judgment" means a time of trial or testing, from the Greek word "krisis." This testing is during Christ's Millennial kingdom on earth. Those who are resurrected as human beings on earth will need to make the decision to walk in righteous ways, following Jesus on the holy highway described in Isaiah 35:8, "And a highway shall be there…and it shall be called The way of holiness; the unclean shall not pass over it…"
Revelation 20:4 tells how long Christ's kingdom is: "…and they lived and reigned with Christ a thousand years." During this time, wickedness will be destroyed in stages. “I will make justice the measuring line and righteousness the plumb line…” Isaiah 28:17.
Mankind will need time to learn of Jesus and to follow Him. Isaiah 11:9 says, "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." Revelation 20:2 states that Satan will have no power during this time: "And he laid hold on … Satan, and bound him a thousand years."
Ultimately Satan will be extinguished forever in what is called the second death in Revelation 20:10 and 14: "…the devil was cast into the lake of fire…(14) This is the second death." The only source of sin might possibly come from some before they decide to enter the holy highway, but even so, as just noted in Isaiah 11:9, evil will not be permitted to hurt those living on earth at that time.
So, the Bible clearly teaches that the answer to your question is "yes." Chapters 1 – 3 of Genesis show paradise lost. The last 3 chapters of the Bible, Revelation 20-22 show paradise restored. Rev 21:4, "And God shall wipe away all tears from their eyes; and there shall be no more death, neither sorrow, nor crying, neither shall there be any more pain: for the former things are passed away." Wickedness will ultimately be destroyed forever. What a beautiful prospect before us!
