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Gravitational potential energy is the energy an object has due to its position above Earth, energy due to its height. We know this energy exists because it takes effort to lift an object up to a height and also because when we release an object, it falls, gaining kinetic energy.
Since the zero of gravitational potential energy can be chosen at any point (like the choice of the zero of a coordinate system), the potential energy at a height h above that point is equal to the work which would be required to lift the object to that height with no net change in kinetic energy.