It didn’t, we are still in an ice age. The last glaciation ended about 10,000 years ago, depending in which part of the world you live, but we are now living in a warm period between glaciations.
What happened when the last glaciation ended? A lot of the ice melted raising sea levels and flooding the edges of the continents, which is why we have shallow seas in various parts of the world. They used to be dry land.

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