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Suppose there is a society on an island surrounded by a dangerous sea. It is survived by the limited resources available on it and only a certain number of people can live on it at the same time. For this society to survive for the long term, it has to have strategies which enable it to do so. The people living on it observed that there needs to be a balance between young and old for the society to function smoothly. So they asked its members to consider it their duty to send their parents to their holy place, the final resting place, alone on a raft, when they turn fifty. They believed doing so brought peace, happiness and wellbeing to the parents, their children and to the whole world. But for another society living on a grassland with abundant food and water, it is the opposite. They considered it their duty to provide for their parents and look after them till their death. They too believed doing so brought peace, happiness and wellbeing to the parents, their children and to the whole world. What we can see is that both these societies had different living conditions for its people, and if they had to survive they had to adjust to it. Different strategies evolved among them and their strategies became duties. Duties of one society might differ from that of another, as it evolve from the needs of a society and different societies have different needs. So what we can see is that the conditions and needs of a society shape duties. It is how duties are created. Duties are manmade.
Duties evolve from different needs. It can come from the need for survival, reproduction, cooperation, imagination, spirituality etc. For the ones coming from the need for survival we have duties like live in such a way that we don't destroy our environment, or don't care about the environment, live at any cost etc. For the ones coming from the need for off springs we have reproduce with interested parties, reproduce with one partner only, have three children etc. For the ones coming from the need for cooperation we have share resources with others, love others in your community etc. For the ones coming from imagination we have don't empty a cup of tea offered to you, don't go near a particular tree etc. For the ones coming from spirituality we have pray to god, offer flowers to god etc. Duties that come out from a mix of god and his wishes, spirituality, imagination, cooperation, reproduction, survival etc make up a good portion of religious duties.
Duties are the answer to the question of what we should do when we are in a particular situation, what we should do for achieving something, what we should do for getting a particular outcome etc. So duties concerning survival comes up when we ask what we should do for survival. Duties concerning cooperation comes up when there is a group of people and they ask how to achieve something together or when they ask what should each of them do.
There are some duties which are common to most societies. These are duties like don't lie, respect others etc. These can be traced to commonalities among all of us like survival, reproduction, cooperation, fear of the unknown, imagination etc. Our needs shape it. There is no reason to think any of it is divine or godly.
Our individual and social needs and perceptions give rise to certain laws by which we agree to live or certain laws by which we think we are supposed to live. It leads to individual or social laws. Morality form out of these laws. And some of them turn into duties. This can be because of the importance, universality etc we may associate with these laws. There is no need for anything from the outside to explain it. We made duties and it change when we change.