The first thing of note is that Heaven is not a final destination for mankind, it is Earth. Heaven is a temporary accommodation that exists for man in order for us to transition from faith based creatures to factual ones. This is to say that you BELIEVE in Jesus, Angels, Heaven and all things spiritual. You believe these things according to your faith, but most people don’t truly KNOW these things to be facts, because they have never seen them, they are spiritually discerned.
If you have ten dollars in your pocket you don't have to believe it, you know it. We have to make that kind of transition when it comes to the Lord and everything else, from believing to knowing. That is the principle reason why we go to Heaven, to transition, to see Jesus on the Throne and the host of Heaven itself. Notwithstanding the other events that will take place there, like the judgement seat of Christ etc; which is a much larger conversation.
This is made possible by God through Jesus.
18 As thou hast sent me into the world, even so have I also sent them into the world.
19 And for their sakes I sanctify myself, that they also might be sanctified through the truth.
20 Neither pray I for these alone, but for them also which shall believe on me through their word;
21 That they all may be one; as thou, Father, art in me, and I in thee, that they also may be one in us: that the world may believe that thou hast sent me.
22 And the glory which thou gavest me I have given them; that they may be one, even as we are one:
23 I in them, and thou in me, that they may be made perfect in one; and that the world may know that thou hast sent me, and hast loved them, as thou hast loved me.
24 Father, I will that they also, whom thou hast given me, be with me where I am; that they may behold my glory, which thou hast given me: for thou lovedst me before the foundation of the world.
18 And he is the head of the body, the church: who is the beginning, the firstborn from the dead; that in all things he might have the preeminence.
19 For it pleased the Father that in him should all fulness dwell;
Heaven is not our home, Earth is, but a new one, not a remodeled one…
1 And I saw a new heaven and a new earth: for the first heaven and the first earth were passed away; and there was no more sea.
2 And I John saw the holy city, new Jerusalem, coming down from God out of heaven, prepared as a bride adorned for her husband.
3 And I heard a great voice out of heaven saying, Behold, the tabernacle of God is with men, and he will dwell with them, and they shall be his people, and God himself shall be with them, and be their God.
The actual steps to get to Heaven are through choices you make in this life. The first and most important one is to accept Jesus as your Lord and Savior. This is the whole of the matter, everything else comes as a result of this step. It is to say you can’t have water without the wet.
9 That if thou shalt confess with thy mouth the Lord Jesus, and shalt believe in thine heart that God hath raised him from the dead, thou shalt be saved.
10 For with the heart man believeth unto righteousness; and with the mouth confession is made unto salvation.
Acts 16:30-32 - Paul tells a Jailer how to get saved
30 And brought them out, and said, Sirs, what must I do to be saved?
31 And they said, Believe on the Lord Jesus Christ, and thou shalt be saved, and thy house.
32 And they spake unto him the word of the Lord, and to all that were in his house.
10 Be it known unto you all, and to all the people of Israel, that by the na
me of Jesus Christ of Nazareth, whom ye crucified, whom God raised from the dead, even by him doth this man stand here before you whole.
11 This is the stone which was set at nought of you builders, which is become the head of the corner.
12 Neither is there salvation in any other: for there is none other name under heaven given among men, whereby we must be saved.
13 Now when they saw the boldness of Peter and John, and perceived that they were unlearned and ignorant men, they marvelled; and they took knowledge of them, that they had been with Jesus.
14 And beholding the man which was healed standing with them, they could say nothing against it.
Jesus described the actual physical trip to heaven as something administered by the Angels. Although during this dispensation of time when Jesus shared this event, man was not actually permitted into Heaven because Jesus had not died and risen yet. However, man did go to Paradise which was the place they waited for the coming of the Messiah in order to receive Him so they could go to Heaven.
22 And it came to pass, that the beggar died, and was carried by the angels into Abraham's bosom: the rich man also died, and was buried;
Hebrews 11:13 - refers to the condition of man not in heaven but waiting.
13 These all died in faith, not having received the promises, but having seen them afar off, and were persuaded of them, and embraced them, and confessed that they were strangers and pilgrims on the earth.