Friends:

Buddha himself explained The 5 Rebirth Destinations!

The Blessed Buddha once explained:
Sariputta, there are these five destinations. What are the five?
Hell, the animal realm, the realm of ghosts, human beings, and gods...
I fully understand hell, the animal, ghost, human, and the divine realm,
and the various paths and ways leading to these realms of existence...
I also understand, know and directly see how any one who has entered
a path to hell, on the breakup of the body, right at death, will reappear
in a state of deprivation, in a painful destination, in purgatory, in hell...
Similarly do I understand, know and see directly how any one, who has
entered such path on the breakup of the body, right after death, will
reappear as animal, ghost, human or divine being...
I understand Nibbāna, the path and very way leading to this Nibbāna...
And I also understand & see directly how one who has entered this path
realising it himself by direct experience, will right there and then enter
and dwell in that release of mind & that release by understanding, which
is fermentation-free after the elimination of the mental fermentations!

Source (edited extract:
The Middle Length Sayings of the Buddha. Majjhima Nikāya. MN 12.
i 73-4:The great lions roar:
Book: http://www.pariyatti.com/book.cgi?prod_id=25072X
Text: http://www.accesstoinsight.org/tipitaka/mn/mn.012.ntbb.html

Comment:
Seeing beings die and reappear is an ability of the Divine Eye, which is
an ability connected with gaining suprahuman force & with Awakening:
http://What-Buddha-Said.net/drops/The_Divine_Eye.htm
http://What-Buddha-Said.net/drops/IV/Suprahuman_Force_V.htm
http://What-Buddha-Said.net/library/DPPN/wtb/b_f/dibba_cakkhu.htm

More details on the five Rebirth Destinations:
http://What-Buddha-Said.net/drops/IV/The_5_Destinations.htm
http://What-Buddha-Said.net/drops/IV/The_Hell_Destiny.htm
http://What-Buddha-Said.net/drops/IV/The_Minor_Hells.htm
http://What-Buddha-Said.net/drops/IV/Animal_Rebirth.htm
http://What-Buddha-Said.net/drops/IV/Hungry_Ghost_Rebirth.htm
http://What-Buddha-Said.net/drops/IV/Mad_Demon_Rebirth.htm
http://What-Buddha-Said.net/drops/IV/Human_Being_Rebirth.htm
http://What-Buddha-Said.net/drops/IV/Divine_Rebirth.htm

On The Thirty-one Planes of Existence:
http://www.accesstoinsight.org/ptf/dhamma/sagga/loka.html

The Five Rebirth Destinations!