The same way that we heal or the baby grows from a few cells into a full sized human – stem cells.
Stem cells are special cells that can turn into any kind of cell in your body (different type of stem cells depending on the differentiation, not eli5).
As human the stem cells that we have in our limps are so specialized that they cannot do anything other than repair the immediate area and even then it has a hard time repairing it perfectly hence why we get scars and scar tissue.
While some animals can regrow a tail or another limp we can actually regrow a big part of hour liver which is why we can do partial liver transplants where the recipient gets a part od the liver and both people grow a full liver afterwards
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