What is the difference between the verb "ser" and "estar" and when do you use them?

The verb "ser" is used when describing a quality someone or something has permanently. The verb "estar" is used when describing a temporary state of something/someone or a location.For example, "soy felíz" and "estoy felíz". "Soy feliz" is used when someone is describing their personality, saying they are a happy person."Estoy feliz" is used when someone is happy in this current moment because of an event that has happened, but it is not permanent."Estoy en Madrid" means that that person is currently located in Madrid, "soy en madrid" would not be correct and would not make sense.