If you describe the ground as terra firma, you mean that it feels safe in contrast to being in the air or at sea. n-uncount
...his relief on finding himself once more on terra firma.
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"Collins Cobuild English Dictionary for Advanced Learners 4th edition published in 2003 © HarperCollins Publishers 1987, 1995, 2001, 2003 and Collins A-Z Thesaurus 1st edition first published in 1995 © HarperCollins Publishers 1995"