You and your brother, Atreus (both half Gods and half Jotnar) received an invitation from Odin to visit Asgard, although Heimdall initially denied you entry.

Finally, under the orders of Odin, you managed to access the kingdom. While waiting for your brother in the halls of Odin's palace, you ran into Heimdall again in the dining room.

"Oh, you again..." Heimdall murmured without looking at you, absorbed in reading a book, sitting at the table in Odin's great hall.