We don’t know exactly. Other comments explain it in the most acceptable theory right now with an impact or multiple impacts explaining its rotation. But the rational speed of the planet being so slow (you could jog around the planet before it makes a full rotation), it could have easily just been pulled into the sun’s orbit from angle giving it it’s rotation long ago (billions of years ago).
Think of the plane moving in a “straight” line and something bigger pulling it from one side.
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