God is the father of our spirits. We are His literal offspring. Acts 17:29 states, "Forasmuch then as we are the offspring of God, we ought not to think that the Godhead is like unto gold, or silver, or stone, graven by art and man's device."
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Before this life, we lived with God in heaven, and after this life, if we live a good life and repent of our wrongdoings, we can have the opportunity to return to live with God again in heaven.
Many people and religions think that God is stern, harsh and quick to punish us. When, in reality, God is our Father. He is kind and loving and wants us to return to Him. In Joel 2:30, from the Old Testament reads, "...and turn unto the LORD your God: for he is gracious and merciful, slow to anger, and of great kindness..." God loves us and wants us to progress in life and return to Him.
A well-known scripture talks about the love of God in sending His son, "For God so loved the world, that he gave his only begotten Son, that whosoever believeth in him should not perish, but have everlasting life" (John 3:16).
Moses saw God "face to face" (Moses 1:2).
After the death of Jesus, Stephen, a leader in Christ's church, saw God and Jesus. "But he, being full of the Holy Ghost, looked up steadfastly into heaven, and saw the glory of God, and Jesus standing on the right hand of God, And said, Behold, I see the heavens opened, and the Son of man standing on the right hand of God" (Acts 7:55-56). Shortly after, Stephen was stoned by the unbelievers.
In 1820, a young prophet named Joseph Smith wanted to know which of all the churches of the time was true. He read a scripture in the Bible (James 1:5) that prompted him to pray to find out. Like Stephen of old, Joseph Smith had a vision and saw God the Father and Jesus Christ.