He is the only warrior left alive after the battle between beowulf and the dragon
Wiglaf inherits the kingdom because all the other warriors abandoned Beowulf in his final battle against the dragon, leaving only Wiglaf to help him. Wiglaf's loyalty and bravery in fighting the dragon alongside Beowulf demonstrated his worthiness to be the next ruler. Beowulf saw these qualities in Wiglaf and passed the kingdom on to him before he died.
Wiglaf orders that the cowards who fled in battle should be stripped of their armor and banished, never to return to the kingdom.
Beowulf gives Wiglaf his gold necklace as a symbol of passing on his kingship and legacy to him, acknowledging Wiglaf's bravery and loyalty during the battle. It is a way for Beowulf to show his gratitude and trust in Wiglaf as his successor.
1 Corinthians 15:50 - Now this I say, brethren, that flesh and blood cannot inherit the kingdom of God; nor does corruption inherit incorruption. [NKJV]
No, animals were put on this Earth for the benefit of man, for food, clothing and companionship. They have no souls, and no free will, they rely on instinct. Therefore they cannot inherit the Kingdom of God.
They will inherit the Kingdom of heaven.
Wiglaf decides to fight alongside Beowulf because he is loyal to his king and committed to upholding the warrior code of loyalty and bravery. He also feels a strong sense of duty to protect his leader and the kingdom from the dragon's threat.
According to the bible, no where does it say that anyone can. It says that God is pretty much divine and no one can be or ever will be above him. To answer your question in short, no one can inherit the kingdom of "god".
Wiglaf of Mercia died in 839.
Wiglaf is now afraid of potential threats from enemies who may seek to test the strength and unity of the Geats without Beowulf's leadership. He may also be apprehensive about the challenges of maintaining peace and order in the kingdom after Beowulf's death.
Brazil
Wiglaf predicts the Geats' demise because their king, Beowulf, is old and weak, and many of their warriors have been killed by the dragon. Without strong leadership and sufficient warriors, they are vulnerable to attack and unable to defend their kingdom effectively.
I would describe Wiglaf as a brave, young, noble warrior.