"But I do not consider my life of any account as dear to myself, so that I may finish my course and the ministry which I received from the Lord Jesus, to testify solemnly of the gospel of God’s grace." (Acts 20:24)
The gospel of the coming kingdom of Israel on the present Earth was preached to the Jews until Jesus was rejected as their Messiah as we read in Acts 28:28. The restored kingdom of Israel has been postponed for almost two thousand years while "the Gospel of God's grace” is preached to all nations. However, Jesus will return and set up the restored kingdom of Israel which will last one thousand years.
“The LORD says, “I will give you back what you lost to the swarming locusts, the hopping locusts, the stripping locusts, and the cutting locusts. It was I who sent this great destroying army against you. Once again you will have all the food you want, and you will praise the LORD your God, who does these miracles for you. Never again will my people be disgraced. Then you will know that I am among my people Israel, that I am the LORD your God, and there is no other. Never again will my people be disgraced.” (Joel 2:25-27)
“Therefore tell the house of Israel that this is what the Lord GOD says…I will take you from among the nations and gather you out of all the countries, and I will bring you back into your own land. I will also sprinkle clean water on you, and you will be clean. I will cleanse you from all your impurities and all your idols. I will give you a new heart and put a new spirit within you; I will remove your heart of stone and give you a heart of flesh. And I will put My Spirit within you and cause you to walk in My statutes and to carefully observe My ordinances. Then you will live in the land that I gave your forefathers; you will be My people, and I will be your God.” (Ezekiel 36:22, 24-28)
“It is a trustworthy statement deserving full acceptance. For it is for this we labor and strive, because we have fixed our hope on the living God, who is the Savior of all humanity, especially of believers. Prescribe and teach these things.” (1 Timothy 4:9-11)
"Then I saw a new heaven and a new earth, for the first heaven and earth had passed away, and the sea was no more. I saw the holy city, the new Jerusalem, coming down out of heaven from God, prepared as a bride adorned for her husband. And I heard a loud voice from the throne saying: “Behold, the dwelling place of God is with man, and He will dwell with them. They will be His people, and God Himself will be with them as their God. He will wipe away every tear from their eyes, and there will be no more death or mourning or crying or pain, for the former things have passed away.” And the One seated on the throne said, “Behold, I make all things new.” Then He said, “Write this down, for these words are faithful and true.” (Revelation 21:1-5)
The kingdom promised to Israel on this earth will last one thousand years and will begin with the return of Jesus as king of kings and Lord of lords. It will come to an end after one thousand years and God will destroy the present Earth and create a New Heaven and New Earth as the eternal home of redeemed humanity in the Kingdom of God. It is the gospel of the Kingdom of God in the New Heaven and New Earth which will be "preached in the whole world as a testimony to all nations" during the thousand year kingdom of Israel.