Heimdall lived long as a man among men, and the age of his rulership
was a golden age of peace and prosperity.
When he died, his boat returned to take him back. The sorrowing humans laid his corpse in the boat, and surrounded it with his treasures and weapons.
The boat then sailed back to
Vanaheim, where Heimdall was stripped of his aged human shape,
regained his eternal youth and was taken into Asgard.