Where 作为疑问词，用来提问；there不能作为疑问词,用作副词，表示“在那里”。
Where are you going?
Where did you get it?
I got it there.
where作为关系副词，用来连接主从句；而there可以指副词，表示“在那里”，有指向前文所提及的地方的关联意义。
They had a wonderful time on the beach, where the air was fresh, the water blue and the people happy.
They had a wonderful time on the beach. There the air was fresh, the water blue and the people happy. (There 位置，还可以在主语后，或句子末尾）
Where 可以引导状语/宾语/主语从句； there可以用于自己的特殊句型there be...(表示存在）
I cannot remember where I put my keys.
Where you got it is not important any more.
Please put it back where you found it.
There are some interesting books.