We did. Concepts of hell arose from the most terrifying experiences our ancestors were capable of fathoming. Those concepts, like all other ideas humans came up with can always be traced to some elements within the human experience.
The idea of hell clearly comes from ideas of volcanic activity beneath the earth that our ancestors were exposed to coupled with their experience of caves. The idea of heaven is tied to clouds and sunshine with a sprinkling of all of our unfulfilled desires. In other words, concepts of heaven and hell are ideas that were born within human imagination.
