When the sun was young it had a disk of dust spinning around it.
The dust rubbed against itself making it charged up with static electricity (like when you rub your head on a balloon). The charged dust clumped together, eventually making lots of big rocks.
These big rocks were so big that they fell together because of gravity. A long time later enough big rocks had fallen together to form the planets, and earth was one of these!
Exactly what James has said, although the Earth from when it was first formed was a much different place than what it is now. Lots of change in the geology, the atmosphere and the biology has happened since then.
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