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It said the epicentre for the quake was 233 kilometres north of Ayodhya in Uttar Pradesh.
The quake triggered panic among people, with many in Delhi and the National Capital Region reporting vigorous shaking of furniture.
Several social media users shared visuals of people rushing out of residential buildings.
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Nepal lies in one of the most active tectonic zones (seismic zones IV and V) of the world, making the country extremely vulnerable to earthquakes.