First, it should be mentioned that it is already proven that we inherit indeed some of our live experience encoded in DNA to our children. This is pretty new stuff but it is main stream science.
Second, I do believe that we are some higher entities that jump between time and lifes to increase experience and see things from different perspectives in the manifested world.
It seems that only here we are able to do certain things, the good and the bad, which are impossible in less dense dimensions. I build this theory on many esoteric teachings from around the world. Of course this is not even coming close to the reality behind the veil. But it is pretty magical.
I regards to heaven and hell: I believe that we eventually see the others perspective. So if we hurt the other, we are hurting ourselves and realizing that we cannot undo that creates hell for eternity. Something like that. What do I know, right?