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The Marshall's are brought to the mysterious world by means of a dimensional portal, a device used frequently throughout the series and a major part of its internal mythology. This portal opens when they are swept down a gigantic 1,000 foot waterfall. We later learn in what should have been the series finale (titled "Circle", which explains the time paradox) that this portal is actually opened by Rick Marshall himself, while in Enik's cave, as a way for the current Marshalls to return to earth, resolving the paradox and allowing Enik to also return to his time.
Outfitted only for a short camping trip, the resourceful family takes shelter in a natural cave and improvises the provisions and tools that they need to survive. Their most common and dangerous encounters are with dinosaurs, particularly a Tyrannosaurus rex they nickname "Grumpy" who frequents the location of their cave. However, many of the dinosaurs are herbivores, posing no threat to the Marshalls. One is a particularly tame young Brontosaurus whom Holly nicknames "Dopey," and whom the family looks upon as a pet.
They also tangle with menacing Sleestak (lizard-men) and "cave men" called Pakuni (one of whom, Cha-Ka, they befriend), as well as a variety of dangerous creatures, mysterious technology, and strange geography.
The main goal of the three is to find a way to return home. They are occasionally aided in this by the Altrusian castaway Enik. At the start of the third season Rick Marshall is accidentally returned to Earth alone, leaving his children behind, and is replaced by his brother Jack. Spencer Milligan's absence was explained by having Rick Marshall disappear after he was trying to use one of the pylons to get home, and that Jack had stumbled upon his niece and nephew after he embarked on a search of his own to find them.
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