I have just finished season 3, well it's an intriguinging show with an open ending. Spoilers ahead, if you haven't watched yet, and don't want to know what happened, don't read.
So in the other world Jonas impregnates alt Martha, and their child is the origin in both the world's. But Adam and Eve fight to do everything again' and again in a cycle.
Until Claudia breaks the loop by sending Jonas and Alt Martha to the third world, the origin world, where Tanahaus has created both the world's in trying to bring his son from the dead, who died in a car accident. Jonas and Martha save his son, so that Tanahaus never creates the time machine, and by doing so, Jonas and Martha cease to exist.