The RCA affirms the literal, visible, bodily return of Christ at the end of history to judge the living and the dead and to bring the kingdom to consummation. This return is physical and observable, not merely spiritual or invisible. Christ's second coming is the hope of the church and the object of Christian longing.

The RCA understands history through an inaugurated eschatology framework: the kingdom of God was inaugurated in Christ's first coming and will be consummated at his return. Believers now experience the kingdom's reality through the Holy Spirit while awaiting its full manifestation. The second coming will issue in the bodily resurrection of all people and the final judgment.

At his return, Christ will separate the righteous from the wicked, establish his eternal kingdom, and perfect all things. The doctrine combines comfort (assurance of Christ's triumph) with exhortation (readiness and faithful living). The RCA encourages believers to live in light of Christ's return.