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The theory explaining planetary formation was ideated in the late 19th century. It's true that it has undergone a lot of modification since then to include what we've learned through observation and a bit of calculation. But the center of the idea is that at some point in time, gaseous components in a molecular cloud or nebulosity are pulled together and concentrate due to gravity. Then a long period of accretion sees the formation of a star and an associated planetary system. This is the nebular hypothesis.

As more and more time passes, enough material "clumps together" that a gravity well forms and "gathers" all the material in the vicinity. Separate gravity wells "stake claim" to volumes of space around a central point where a star forms. Eventually, enough material gathers and gravity becomes high enough to form everything into a sphere, as planets are shaped in a ball because it is the most efficient response to that much gravity. Use the link below to learn more.

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