What is the meaning of “continuity in the relation with the ancestors and the heirs”?

I read a paragraph as below from the website below, I can not understand “(3) when there is continuity in the relation with the ancestors and the heirs“, could you please explain and give some examples?

“In the view of the ancient Israelites, as expressed in the Hebrew Bible, death is good or at least acceptable (1) after a long life, (2) when a person dies in peace, (3) when there is continuity in the relation with the ancestors and the heirs, and (4) when one will be buried in one’s own land.”
https://pubmed.ncbi.nlm.nih.gov/14732611/