
daher
therefore
Introduces a logical result or consequence; for this reason, therefore.
Ich habe den Zug verpasst und kam daher zu spät zur Arbeit.
I missed the train and therefore arrived late to work.
therefore / from there
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therefore
Introduces a logical result or consequence; for this reason, therefore.
Ich habe den Zug verpasst und kam daher zu spät zur Arbeit.
I missed the train and therefore arrived late to work.

from there
Indicates an origin or direction; from there, from that direction. This meaning is rarer and more literary.
Ein kalter Wind wehte vom Meer daher.
A cold wind blew in from the sea.
'Daher' is made up of 'da' (there, then) and 'her' (from a direction). Literally, it means 'from there'. This origin explains both meanings: the logical consequence ('for this reason') and the spatial origin ('from this direction').
Es war ein Feiertag, daher waren die Geschäfte geschlossen.
It was a public holiday; therefore, the shops were closed.
When 'daher' (therefore) stands at the beginning of a sentence, it introduces a consequence and requires inversion: the verb comes directly after 'daher' in position 2. It can also come after the verb and subject.
Das Wetter war schlecht. Daher blieben wir zu Hause.
The weather was bad. Therefore, we stayed at home.
In the meaning of 'deshalb' (therefore/that’s why), 'daher' belongs more to written or more formal language. It structures arguments and explains logical connections.
Die Nachfrage ist stark gestiegen, daher müssen wir die Produktion erhöhen.
Demand has risen sharply; therefore, we must increase production.
The spatial meaning 'von dort' (from there) is rare today and is mainly used in literary or poetic texts. It is often combined with a verb of movement.
Aus dem Tal stieg Nebel daher.
Mist rose from the valley.
so / therefore
Also and daher can express a consequence of what came before. Daher clearly refers to the stated reason and often sounds more matter-of-fact. Also tends to mark the conclusion being drawn and is also natural in spontaneous conversation.

Es regnet stark; daher nehmen wir den Bus.
It's raining heavily; therefore, we're taking the bus.
Es regnet stark, also nehmen wir den Bus.
It's raining heavily, so we're taking the bus.