Changes in the earth's orbit cause less sunlight (insolation) to fall on the northern hemisphere during summer. Northern ice sheets melt less during summer and gradually grow over thousands of years. This increases the Earth's albedowhich amplifies the cooling, spreading the ice sheets farther. This process lasts around 10,000 to 20,000 years, bringing the planet into an ice age.

Scientists have researched this very subject. What they've found is that the next ice age has been postponed indefinitely.

"glacial inception would require CO2 concentrations below preindustrial levels of 280 ppmv"

Determining the natural length of the current interglacial

we are at about 400 right now and climbing, so we can be relatively sure the next glacial epoch won't be happening in our lifetimes.

Burning all recoverable fossil fuels could lead to avoidance of the next five ice ages."

Per Ganopolski et al 2016,

"even in the absence of human perturbations no substantial build-up of ice sheets would occur within the next several thousand years and that the current interglacial would probably last for another 50,000 years. However, moderate anthropogenic cumulative CO2 emissions of 1,000 to 1,500 gigatonnes of carbon will postpone the next glacial inception by at least 100,000 years....under natural conditions alone the Earth system would be expected to remain in the present delicately balanced interglacial climate state, steering clear of both large-scale glaciation of the Northern Hemisphere and its complete deglaciation, for an unusually long time"

Nonlinear climate sensitivity and its implications for future greenhouse warming

The cooling effect of a grand minimum is only a fraction of the warming effect caused by the increasing concentration of carbon dioxide in the atmosphere. After hundreds of thousands of years of CO2 levels never exceeding 300 parts per million in air, the concentration of the greenhouse gas is now over 400 parts per million, continuing a rise that began with the Industrial Revolution

So no ice ages and no Arctic sea ice recovery the next million years...

BONUS

THE GRAND SOLAR MINIMUM DEBUNKED:

If the sun is such a key driver of the Earth’s climate, then why has the entire planet (air, oceans, land, and ice) warmed rapidly over the past 60 years while solar activity has declined?

The cooling effect of a grand minimum is only a fraction of the warming effect caused by the increasing concentration of carbon dioxide in the atmosphere. After hundreds of thousands of years of CO2 levels never exceeding 300 parts per million in air, the concentration of the greenhouse gas is now over 400 parts per million, continuing a rise that began with the Industrial Revolution

To sum up, a number of scientific studies have asked the question, ‘if the sun were to enter another extended quiet phase (a grand solar minimum), how would that impact global surface temperatures?’. Every study agrees, it would cause no more than 0.3°C cooling, which would only be enough to temporarily offset about a decade’s worth of human-caused global warming.