NASA and the European Space Agency are preparing for a Mars Sample Return Mission to bring rock samples collected by the Perseverance rover to Earth. So far, Perseverance has collected 14 rock samples.
NASA has shared a video explaining the mission:
A set of samples from the rover will be reloaded aboard the Mars Ascent Vehicle. It will deliver the samples to a Martian orbit, where they will be picked up by the Earth Return Orbiter and delivered to Earth.
A NASA-led Sample Retrieval Lander will also carry and deliver to the Red Planet two NASA helicopters to serve as an alternate way to deliver the samples stashed on the surface by Perseverance.