Public Ministers, like Jesus, are needed to facilitate this:
Urantia Book 170:5.19 -
"Sooner or later another and greater John the Baptist is due to arise proclaiming “the kingdom of God is at hand” — meaning a return to the high spiritual concept of Jesus, who proclaimed that the kingdom is the will of his heavenly Father dominant and transcendent in the heart of the believer — and doing all this without in any way referring either to the visible church on earth or to the anticipated second coming of Christ. There must come a revival of the actual teachings of Jesus, such a restatement as will undo the work of his early followers who went about to create a sociophilosophical system of belief regarding the fact of Michael’s sojourn on earth. In a short time the teaching of this story about Jesus nearly supplanted the preaching of Jesus’ gospel of the kingdom. In this way a historical religion displaced that teaching in which Jesus had blended man’s highest moral ideas and spiritual ideals with man’s most sublime hope for the future — eternal life. And that was the gospel of the kingdom."