And it came to pass that he saw One Descending out of the midst of heaven, and he beheld that his luster was above that of the sun at noonday

1 Nephi 1:9

Jesus descended to earth over 2,000 years ago. After his resurrection he descended again to visit the Nephites and the Tribes of Israel. When he returns, he will descend in clouds of glory. Not only has he descended, and not only will he descend, but he is continually descending with an outstretched hand to receive us. 1 Nephi 1:9, 2 Nephi 19:12, 17, 21 & 28:32.