The Second Prophesy of Mandos:
Thus spoke Mandos in prophecy, when the Valar sat in judgement in Valinor and the rumour of his word was whispered among all the Elves of the West. When the world is old and the Powers have grown weary, Morgoth, the Black Foe of the World, seeing that the guard sleepeth, shall come back through the Door of the Night out of the Timeless Void; and all shall be darkness, for the sun he will turn to black, and the moon will no longer shed his light… But the Host of Valinor shall descend upon him as a searing flame, white and terrible. Then shall the Last Battle be gathered on the fields of Valinor. In that day, Tulkas shall strive with Morgoth, and on his right hand shall be Eönwë, and on his left Túrin Turambar, son of Húrin, returning from the Doom of Men at the ending of the world; and the black sword of Túrin shall deal unto Morgoth his death and final end; and so shall the Children of Húrin and all fallen Men be avenged.
Thereafter shall the Earth be broken and remade, and the Silmarils shall be recovered out of Air and Earth and Sea; for Fëanor shall surrender them willingly. Yavanna will rekindle the Two Trees, and a great light shall come forth. And the mountains of Valinor shall be levelled, so that the light shall go out over all the world. In that light the Valar will grow young again, and the Elves awake and all their dead arise, and the purpose of Ilúvatar be fulfilled concerning them. But of Men in that day the prophecy of Mandos doth not speak, and no Man it names, save Túrin only, and to him a place is given among the sons of the Valar.
So at least one human will take part in it.
Presumably Mandos knew what he was talking about. You’ll have to ask him for any further clarification.