The PCA affirms the literal, visible, bodily return of Christ at an appointed time known to God alone. Christ will return to judge the living and the dead and to bring history to consummation. This return is physical and observable, not merely spiritual or invisible.

The PCA operates within an inaugurated eschatology framework: the kingdom of God was inaugurated in Christ's first coming and will be consummated at his return. Believers already experience the reign of Christ through the Holy Spirit, while awaiting its full and final manifestation. The second coming is the hope of the church and motivation for faithful living.

At his return, Christ will judge all people according to their works, separate the righteous from the wicked, raise the dead in bodily form, and establish the eternal state. The doctrine emphasizes both comfort (assurance of Christ's triumph) and exhortation (readiness for his coming).