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You can get some awesome back story and lore from the grimore cards, it's a bit patchy and scattered about, but most are written really well and are really interesting, half of them do open up more questions then answers though.
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Hi man, there's no take backstory to destiny, although from what we're told in cutscenes etc. is that guardians are the protectors of the city. The city is the last of the human settlements. You are thrown into a world after the collapse. Before the collapse there was the golden age, where the human race terra formed other planets using the travellers' (the big ball thing near the tower) technology. Think there's a source online that better explains it, google it :) Apologies if this wasn't that thorough, I'm not too sure on the backstory either to be honest haha! - Req