The CRCNA affirms the personal, bodily, and visible return of Jesus Christ. The Belgic Confession (Article 37) explicitly teaches that Christ 'shall come to judge both the living and the dead, when he shall render unto every man according to his deeds.' The second coming is understood as a literal, bodily event, not merely a spiritual presence or influence. The same Jesus who ascended into heaven will return visibly in glory.

At Christ's return, all the dead will be raised. Those who believe in Christ will be caught up to meet him in the air and will be transformed into glorified bodies. Christ will sit in judgment over all humanity, separating the righteous from the unrighteous. The righteous will enter eternal life in God's presence; the unrighteous will be consigned to eternal punishment. This event will be the culmination of history and the beginning of the eternal state.

The CRCNA does not mandate a specific eschatological timeline regarding the rapture (pre-tribulation, mid-tribulation, post-tribulation) or the millennium. However, amillennialism has been the traditional and dominant position in CRCNA churches. The second coming of Christ is presented as the certain and imminent hope of the church, a reality that should motivate holiness, vigilance, and witness. Exact speculation about the day and hour is discouraged, with emphasis instead placed on readiness and faithfulness.