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Earth did not collide with a planet. If Earth collided with another planet, it would have been smashed to smithereens and wiped from existence, then over billions of years the debris would have formed into a series of lifeless moons.

It is believed however that a large-ish object, most likely a small moon or large asteroid, did collide with the Earth. The debris from that impact is believed to have created the moon that orbits Earth.

So, a planet did not collide with Earth. But it's possible a small moon or large asteroid did.

This is only a theory, it has not been scientifically proven. The theory is called the "giant impact hypothesis".

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