There is a good veritasium video on it, just go watch that https://www.youtube.com/watch?v=RQYuyHNLPTQ
it is impossible to explain in text how it works, you really have to see it, but the needle is pushed through the fabric, a hook catches the thread and loops another piece of thread through it with an amazingly impossible device called a bobbin, the needle is then pulled back up and the extra thread is pulled through, then you repeat.
Again, you really have to see it, just watch the video
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