They are always falling into the sun, but they are moving so fast sideways it becomes a circle (irl ellipse).
Newton made an [actual ELI5 though experiment](https://en.m.wikipedia.org/wiki/Newton%27s_cannonball) to show how orbits work. Imagine a canon on top of a high mountain shoots a ball, the ball moves forward but is also falling down, it follows a curved path and eventually hits the ground. What if you shot the ball so fast it fell in a curve that matched the curvature of earth and so always fell but never hit the ground? The ball is now orbiting the earth.
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