How to get back into Destiny with the Rise of Iron expansion

Destiny is approachable, even if you haven't played since before The Taken King was released.
Destiny's second expansion, Rise of Iron was just released and it's a ton of fun whether you've been playing since day one, or you're just getting started. There is a third category of Destiny players: the lapsed, the folks who played the original game and then wandered away before the first expansion was released.
So you're hearing how great the new expansion is and you want to get back into Destiny? Here's what you need to know.

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