When and how do you experience the kingdom of God on earth?

You experience the kingdom of God not only on earth but within. As per the scripture, Luke 17:21 and Corinthians 3:16, God lives in the temple of your heart. The truth is this that God is everywhere, not just on earth, in the cosmos, in every atom of existence, in every living organism. Everything is God manifesting as this world. But unfortunately, we are unable to experience the kingdom of God on earth and within us because we are caught in this Cosmic illusion or Maya. We are lost in our material world and we don't see the Divine Spirit that is beating within our heart.