From my understanding of this question you are not referring to chemistry but physics.
This has to do with Newton.
Lay your hand on a table. Even though you are exercising force on the table you will see that your skin is being pushed against.
You exercise force on the table and the table exercises force on you. This is the resistance you and I feel when we pick or grab something.
Things stay “put” because the force that is being received by said object is the same as the force it pushes back with.
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