The hope of this song is expressed in Isaiah 11:1-9 and Micah 4:1-5.
The expectation of the reign of Christ is referenced in Philippians 2:9-11, I Corinthians 15:24-25 and Revelation 11:15-19.
Heidelberg Catechism, Lord’s Day 22, Questions and Answers 57 and 58 say that believers’ resurrected bodies will be “raised by the power of Christ, reunited with my soul, [will be] made like Christ’s glorious body.” And then “I will have perfect blessedness such as no eye has seen, no ear has heard, no human heart has ever imagined; a blessedness in which to praise God forever.”
Additionally, “Christ will cast all his enemies and mine into everlasting condemnation, but will take me and all his chosen ones to himself into the joy and glory of heaven” (Heidelberg Catechism, Lord’s Day 19, Question and Answer 52).
Our Song of Hope, stanza 21 expresses it this way: “God will renew the world through Jesus, who will put all unrighteousness out, purify the works of human hands, and perfect their fellowship in divine love. Christ will wipe away every tear; death shall be no more. There will be a new heaven and a new earth, and all creation will be filled with God’s glory.”
“We long for that day when our bodies are raised, the Lord wipes away our tears, and we dwell forever in the presence of God. We will take our place in the new creation...” (Our World Belongs to God, paragraph 56)