The reason that the earth originally began rotating is pretty complicated, but the reason that it remains rotating is fairly simple. Basically, when the planets were all part of an interstellar cloud, there was a small amount of rotation in the cloud. When the cloud came apart forming the planets, the angular momentum was conserved so the planets spin as well. The earth still spins because due to the first law of motion, objects in motion stay in motion unless a force stops that motion. There is no force to stop the motion because the earth is spinning on its own axis and thus there is no friction, wind resistance, or any other force to stop it.
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