Recent theories suggest that Mars was once a part of the Earth & essentially the two planets were one. Modern science calls this protoplanet as Terramars. Over billions of years the protoplanet separated into two as a result of Mars getting separated from the presently called Pacific basin. You can read more about this theory here:-

But the real point of interest here is that, this theory which is supposed to be modern was stated long back in the Brihat Parashara Hora Shastra.
The Brihat Parashara Hora shastra is an important treatise in Jyotishya. It begins with a conversation between sage Parashara(the father of Vyasa maharashi) & a vipra(brahmin).
In it Parashara states:-

रामोऽवतारः सूर्यस्य चन्द्रस्य यदुनायकः।
नृसिंहो भूमिपुत्रस्य बुद्धः सोमसुतस्य च॥ ५॥


Rama is the incarnation of Surya (the Sun), Krishna of Chandra (the Moon), Narasimha of Bhumiputra (Mars) and Budha is from Somasuta (Mercury).

The point to be noted is that the sage refers to Mars as "bhumiputra", i.e the son/offspring of Bhumi(Earth).
The timeline of Maharshi Parashara goes even before the time of the Mahabharata.

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