When called from Heaven to the Transfiguration, Moses and Elijah “appeared in glorious splendor, talking with Jesus. They spoke about his departure, which he was about to bring to fulfillment at Jerusalem” (Luke 9:31). They seemed fully aware of what was transpiring on Earth, and what God was about to do.
Also consider this: Christ referred to “rejoicing in heaven over one sinner who repents” (Luke 15:7). Similarly, He said, “there is rejoicing in the presence of the angels of God over one sinner who repents” (Luke 15:10). It doesn’t speak of rejoicing by the angels but in the presence of angels. Surely this includes saints in Heaven, who would be overjoyed by human conversions, especially of those they knew and loved on Earth. To rejoice over conversions on Earth, they must be aware of what is happening on Earth—not generally, but specifically.
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Hebrews 12:1-2 tells us to “run with perseverance the race marked out for us.” It evokes the image of Greek competitions watched by throngs of engrossed fans sitting high in ancient stadiums. The saints who’ve gone before us are called a “great cloud of witnesses.” This imagery suggests those saints—veteran spiritual athletes—watch us and cheer us on from the great stadium of Heaven. (Note that the witnesses are said to “surround” us, not just to have preceded us.)