David in particular is shown as resurrected and ruling here on Earth, following the tribulations of Day of the Lord:
Alas! For that day is great, So that none is like it; And it is the time of Jacob’s trouble, But he shall be saved out of it.
‘For it shall come to pass in that day,’ Says the LORD of hosts, ‘That I will break his yoke from your neck, And will burst your bonds; Foreigners shall no more enslave them.
But they shall serve the LORD their God, And David their king, Whom I will raise up for them.
— Jeremiah 30:7–9
“They shall not defile themselves anymore with their idols, nor with their detestable things, nor with any of their transgressions; but I will deliver them from all their dwelling places in which they have sinned, and will cleanse them. Then they shall be My people, and I will be their God.
David My servant shall be king over them, and they shall all have one shepherd; they shall also walk in My judgments and observe My statutes, and do them.
Then they shall dwell in the land that I have given to Jacob My servant, where your fathers dwelt; and they shall dwell there, they, their children, and their children’s children, forever; and My servant David shall be their prince forever.
— Ezekiel 37:23–25
Jesus talked of this time:
“And this is the will of Him who sent Me, that everyone who sees the Son and believes in Him may have everlasting life; and I will raise him up at the last day.”
— John 6:40
As did Paul:
And God both raised up the Lord and will also raise us up by His power.
— 1 Corinthians 6:1
The Book of Revelation describes this same time as the "first resurrection", when all the saints will be transformed into immortal beings, ruling in the Kingdom of God:
Blessed and holy is he who has part in the first resurrection. Over such the second death has no power, but they shall be priests of God and of Christ, and shall reign with Him a thousand years.
But the rest of the dead did not live again until the thousand years were finished. This is the first resurrection.
— Revelation 20:6,5