What is the Bible referring to when it says that the people of the earth shall beat their swords into plowshares, and their spears into pruning hooks?

There are three places in the Old Testament where this event is mentioned. It is certainly referring to a time on the earth when weapons won't be needed or used.

According to Joel 3:3-17, this event will not take place until the second coming of the Messiah, Jesus Christ. Jesus will come back to the earth, set up His Kingdom, and rule over all the earth. Notice the following verses from the Old Testament:
The word that Isaiah the son of Amoz saw concerning Judah and Jerusalem. Now it shall come to pass in the latter days that the mountain of the Lord's house shall be established on the top of the mountains (after the second coming of the Lord), and shall be exalted above the hills; and all nations shall flow to it.

Many people shall come and say, "Come, and let us go up to the mountain of the LORD, to the house of the God of Jacob; He will teach us His ways, and we shall walk in His paths." For out of Zion shall go forth the law, and the word of the LORD from Jerusalem. He shall judge between the nations, and shall rebuke many people; they shall beat their swords into plowshares, and their spears into pruning hooks; Nation shall not lift up sword against nation, neither shall they learn war anymore.
(Isa. 2:1-4)
This event won't take place until Jesus returns. What a glorious time it will be when Jesus returns to rule and reign over all the earth.

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