The concept of spending eternity in a human body, is a takeoff on the Resurrection body.
The resurrection body is a basic precept of the Christian religion based on the fact that Jesus resurrected in a human type of body.
All scripture is quoted from the King James Translation unless otherwise noted.
John 20:19 and 20 Then the same day at evening, being the first day of the week, when the doors were shut where the disciples were assembled for fear of the Jews, came Jesus and stood in the midst, and saith unto them, Peace be unto you. And when he had so said, he shewed unto them his hands and his side. Then were the disciples glad, when they saw the Lord.
However this body was not restricted by physics since:
the doors were shut where the disciples were assembled for fear of the Jews, came Jesus and stood in the midst,
It would appear that Jesus mystically appeared among them, without coming through the door, although that is not said it seems to be implied.
The concept that we will also have a resurrection body like that of Jesus after he had risen most likely comes from:
1st John 3:2 Beloved, now are we the sons of God, and it doth not yet appear what we shall be: but we know that, when he shall appear, we shall be like him; for we shall see him as he is.
As far as we being on Earth that appears to be an interpretation of:
Revelation 21:1 through 4 And I saw a new heaven and a new earth: for the first heaven and the first earth were passed away; and there was no more sea. And I John saw the holy city, new Jerusalem, coming down from God out of heaven, prepared as a bride adorned for her husband. And I heard a great voice out of heaven saying, Behold, the tabernacle of God is with men, and he will dwell with them, and they shall be his people, and God himself shall be with them, and be their God. 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.
There may also be other passages used to foster these interpretations of which I cannot remember at this time.
Each Christian must take the Scriptures and ask the Holy Spirit to enlighten us as to their meaning, So use these scriptures along with prayer, and have the Holy Spirit teach you their meaning.
I am giving you the Southern Baptist view of the resurrection we will have.
hope this helps.