We are in heaven already
When our Lord was talking to Caiaphas, he told him that one day he would see the Son of Man seated on the right hand of power. In other words, that human nature that was so humiliated is no longer a humiliated human nature. It is now glorified. His ascension is the true carrying of that real humanity, complete in all its parts, body and soul, up to the very throne of God. That is the purpose of the Incarnation: to be our model, to be our pattern. In a certain sense, because Jesus is the new Adam in heaven, you and I are there also. We are not yet there actually, but we are there potentially so long as we remain in a state of grace on this earth.