And it's not just the Scandinavian mythology...
In many cultures around the world there is a conception of there being three worlds: the world above (the sky), the world below (under the earth) and the middle-earth where we humans live. Especially in shamanistic cultures around the world this was pretty usual way to see things - and sounds pretty natural as well.
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Upon the hearth the fire is red
Beneath the roof there is a bed;
But not yet weary are our feet...
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