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Originally Posted by Champion of Europa
OK, I just found the answer:
Elrond and his brother Elros were given the choice, as half-elfs, to either choose an Elven path (i.e immortality) or a human one (i.e mortality). Elrond chose immortality, Elros chose mortality and became the first king of Numenor (Aragorn is descended from this line of kings). The children of Elrond were to be offered teh same choice: to go with him to the West and stay immortal, or if they did not go with him to stay in Middle Earth and become mortal. Arwen's brothers went with their father, she for her love of Aragorn stayed and laid herself down in grief to die in the remains of Lothlorien.
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Yep, that happens in the Silmarillion,which is a pretty amazing read. Also, there's a bit about it in the appendices to The Lord of the Rings. But one thing, Elrond's sons didn't actually go with him into the West. They apparently stayed on Middle Earth a bit longer but were still accounted among the Elves and were allowed to leave when they were ready.