People will indeed repent fully, of their own accord, and on their own initiative, thereby ushering in the Redemption.
This repentance need not be evinced by a wholesale return to full Jewish observance, for that revival will be one of the Messiah’s first accomplishments.
Rather, this repentance consists of the sincere dissatisfaction with the present state of reality—accompanied by the resolution to change it—that we have all experienced numerous times throughout our lives.
It is therefore imperative that the Jewish people encourage the nations of the world to fulfill the commandments that the Torah obligates them to observe. By acknowledging the Torah as the sole possible basis for true ethical behavior and moral justice, the non-Jewish world will appreciate the Jewish people as the vanguards of world justice, morality, and peace. This will pave the way for the ultimate, messianic Redemption.