The answer to this question depends on who “we” are. The majority of people won’t spend eternity anywhere! Jesus said, “Strive to enter by the narrow gate; for wide is the gate and broad is the way that leads to destruction” (Matthew 7:13). Contrary to what is often taught, “destruction” does not mean eternal life in hell, but rather an end of existence (see What Does Revelation Say about Hell).
But assuming that you believe in Christ, have been born again and continue to walk with Him, you can have assurance that you will spend eternity in the Kingdom of God. As far as location is concerned, if you die before the Second Coming of Christ, you will “sleep in the dust” (Daniel 12:2) until the voice of Jesus wakes you up and you rise in the first resurrection to “meet the Lord in the air” (1 Thessalonians 4:17), together with those believers who are alive until Jesus comes.
The first 1000 years (the Millennium) will be spent in heaven, where you will participate in the judgment of men and angels (1 Corinthians 6:2,3). After the Millennium the New Jerusalem will descend to the Earth which will have been totally renewed, where you will lead a very real life, with the ultimate in physical, mental, emotional, social and spiritual satisfactions and pleasures.
The scenario of floating around on a cloud strumming a harp or spending eternity “gazing at the beatific vision” is definitely not taught in Revelation. There will, however, be face-to-face communion with God the Father, with Jesus, with angels and with the millions of other people who have been saved.
Revelation chapters 21 and 22 describe an amazingly beautiful city surrounding the throne of God, with streets, gates and walls of gorgeous materials that John could only attempt to compare with transparent gold and precious jewels. But better than the beautiful city is the fact that God Himself “will wipe away every tear from (our) eyes; there shall be no more death, nor sorrow, nor crying. There shall be no more pain, for the former things have passed away” (Revelation 21:4).
There are a number of passages in other parts of the Bible that assure us that eternal life will not just be an endless picnic or extended vacation. There will be very real and satisfying projects and activities that at this point are beyond our imagination. Probably the best description of eternity is found in 1 Corinthians 2:9: “Eye has not seen, nor ear heard, nor have entered into the heart of man the things which God has prepared for those who love Him”.