Most asteroids are in the Asteroid Belt between Mars and Jupiter. But a few do come close to the Earth; these are called Near Earth Asteroids. You can see a list of NEAs, and the dates that they will come closest to the Earth, at www.spaceweather.com.
Asteroids and comets have collided with the Earth in the past, and someday one will collide with Earth in the future. Depending on the mass of the asteroid, the damage could be catastrophic. 65 million years ago, scientists now believe that an asteroid or comet hit the Earth, causing the extinction of the dinosaurs and most life on Earth.
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