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Hercules was last seen in Thor #132 where he was dropped off in Olympus by Thor following their battle with Pluto in Hades. This issue of the Avengers picks up Hercules' story from there.
The reason for Hercules' arrival was that Roy Thomas asked to bring Thor back (again), Stan Lee said no (again), but suggested Hercules as an alternative.
Release imported from Comicogs free Database dump