We will be judged when we die.
The story of the Sheep's and the Goats; 'Goats' are sent to Hell because they didn't help the needy/poor. Therefore, the 'Sheeps' are sent to Heaven because they helped the needy/poor.
Life after death; your soul will be resurrected just like how Jesus rose from the Cross after he died.
Death and rebirth, cycle of life, Samsara
Reincarnation depends on how we fufill our Dharma. Therefore, if we fufill it, then our karma will be good.
Good karma means we will be reincarnated into a higher caste. Therefore if we have bad karma, then we will come back in a lower caste.
Aime for Hindu's in life is for them to escape Samsara; but for the soul to be released and join God