We are already on our journey, and should be continually preparing for it. How? Is this the right question? There are as many ways to prepare for this journey as there are people living on this earth.
The Church is here for those of us who are blessed with belonging to Christ. The Lord knows the ways of many who haven't found nor encountered Him. It is not for us to decide. But we know Christ, we partake of His body and His Blood, we stand at the foot of His Cross, we know His Love ... Love Him back! Always and forever, this is the answer: Love Him back!