Quick summary: the Earth began to exist about 9.5 billion years after the big bang. Life began on Earth about 0.4 billion years later. Another 0.8 billion years later Mars dies.
Life really explodes some 12.5 billion years after the beginning. Humans set foot on the moon 13.7 billion years after the big bang. Another 1.3 billion years and the Earth becomes too hot to inhabit. Siegel believes the universe will burn itself out in 10 to the 15th power years.
Bottom line: Don't hold your breath.