The Vedic writings describe the universe as composed of fourteen planetary systems. The earth is the middle planetary system, and based on our karmas, beings are born in either lower (hell) or higher (heavenly) planetary regions. The earth is one of the heavenly worlds 'Dyava Prithvi’, or desirable places to be born into to enjoy temporary pleasures, based on the results of the karmic actions. Hence, it is the aim of a human being to attain eternal life, and escape the cycle of birth, death and temporary abode in heaven.
Read the English translation of Rig Vedic hymns to heaven and earth.