Yes, the Bible indicates that when a believer dies, the angels will escort them safely into Heaven.
In one of His parables, for example, Jesus told about two very different men. One was a rich man, who lived only for himself and ignored both God and others. The other was a poor beggar who had nothing as far as this world’s goods were concerned, but had faith in God and His promises. When the rich man died, he received what he deserved: a life of misery, separated from God forever. But when the poor man died, the angels accompanied him safely into God’s presence. (You can read this parable in Luke 16:19-31.)
Although we may not see them or even be aware of their presence, God’s angels are real, and when we know Christ, we know they are always with us to safeguard us from Satan’s attacks. If they safeguard us now, can’t they also be trusted to safeguard our journey to Heaven? Of course. The Bible says, “Are not all angels ministering spirits sent to serve those who will inherit salvation?” (Hebrews 1:14).
Never forget, however, that Christ alone is our Savior, and He alone is the one in whom we are to place our faith and trust. We should be grateful for God’s angels, but we are not to worship them or make them (instead of Christ) the center of our faith. Is Christ the center of your faith? Make sure of your commitment to Him. Then put your confidence in God’s promise: “For He will command His angels concerning you to guard you in all your ways” (Psalm 91:11).