Humans are mostly made of just a few elements – carbon, oxygen, hydrogen, nitrogen, phosphorus and sulpher, plus smaller amounts of a few other elements (like calcium in bones, iron in blood to name just a couple).
Most normal matter in the universe is either hydrogen or helium, the two lightest elements. Heavier elements, like oxygen and carbon are formed in stars. At the end of a stars life, these heavier elements get spread out into space, to form new solar systems, planets and humans! So you really can say we are made of stardust!
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