“If we find ourselves with a desire that nothing in this world can satisfy, the most probable explanation is that we were made for another world.” – C. S. Lewis
“God is in the heavens” (Psalm 115:3)
The Transfiguration (Matthew 17:1–8). gives us a glimpse of how the spiritual invisible realm currently overlaps our own visible world. Peter, James, and John walk up the mountain with Jesus. Amazingly both Moses and Elijah stepped in to talk to Jesus in his glorified form. For that moment, the curtain of heaven was pulled back, as it were, and the heavenly dimension that overlaps with our reality was seen.
In this excellent video from The Bible Project Tim Mackie and Jon Collins help us understand Heaven & Earth.