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Here is a timeline of some important events about the canyon.

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The lava river cave was formed because molten lava shot through this tunnel hundreds of thousands years ago when a volcano erupted.

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How were they formed? Over time the passageways eroded away, making the corridors deeper and smoothing hard edges in such a way as to form characteristic 'flowing' shapes in the rock.

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How was it formed?
The grand staircase was formed by years and years of constant eroding.