Messianic Judaism affirms the literal, bodily second coming of Yeshua the Messiah to the Mount of Olives and Jerusalem. This return is understood as the climactic event of history, fulfilling numerous Old Testament prophecies, particularly Zechariah 14. Yeshua will return in power and glory to judge the nations, resurrect the dead, and establish his kingdom. The manner and timing of his return are understood through premillennial dispensational or covenantal eschatology, with the return preceding a millennium of his reign.

The second coming is understood as the hope of Israel and the culmination of God's redemptive purposes. It is not a return to the heavens but a return to the earth, particularly to Jerusalem, the city of God. This belief combines Christian orthodoxy with a strong emphasis on Israel's restoration and the Messiah's vindication before his own people. The return of Yeshua is understood as both a comfort to believers and a warning to unbelievers.