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In page Niflheim:

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According to Gylfaginning, Niflheim was the first of the two primordial realms to emanate out of Ginnungagap, the other one being Muspelheim, the realm of fire. Between these two realms of cold and heat, creation began when its waters mixed with the heat of Muspelheim to form a "creating steam[citation needed]". Later, it became the abode of Hel, a goddess daughter of Loki, and the afterlife for her subjects, those who did not die a heroic or notable death.