In the Vedantic cosmology, there is a multiplicity of heavens. The best of them is what is called heaven with a capital H in religion where God dwells. So those who lead devout and worshipful lives will end up in Brahma-Loka. And having gone there, either they will never come back to this world or they will attain non-dual realization and eventual freedom from there.
Swami Sarvapriyananda teaches Chapter 8 (Verses 23-28) of the Bhagavad Gita. In this series of talks, Swami Sarvapriyananda unfolds the highest truths of Vedanta through the study of the Bhagavad Gita (The Song of God).