With the arrival of Christ the kingdom of God was preached to the Jews. The Law and the Prophets having ended with John the Baptist's ministry. (Lk. 16:16) The kingdom of God is a spiritual Kingdom ruled by Christ, the true David. Christ said this Kingdom was at hand, not afar off. The gospel of the kingdom is that "the time is fulfilled, and the kingdom of God is at hand. Repent, and believe in the gospel." (Mark 1:14-15)
The earthly kingdom of Israel is not "the Kingdom of God." The Jews of Christ's day misunderstood this as many do today by looking for an earthly kingdom of God in downtown geographic Jerusalem in the future.