For Jesus to Ascend into the Heavenly dimension doesn’t mean he was beamed up somewhere so much as it means he went “next door.” It is the limitation both of our language and our metaphysics that make this tricky to understand.
The risen body of Jesus is the first (and so far the only) object which is fully at home in both Heaven and Earth, anticipating the time when they will become something new together. We are promised that same kind of body, just as we are promised citizenship in that same new setting.
This is why Paul refers to Jesus as the firstborn over all Creation—not only because he existed before the world was made, but now because he is also the prototype of the resurrection.
Adapted from Why God Died