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There are several types of bees and wasps that live underground. Some are relatively mild mannered, while others, such as yellow jackets can be very aggressive.
Not all bees are the same. Bumble bees are relatively harmless, only stinging if harmed or the nest is threatened. They are very efficient pollinators and thus a necessary part of plant propagation. They tend to nest in out of the way areas of the garden and sometimes even underground (white tailed bumblebee).