We do all of the time. About 10,000 chunks of rock and dust hit the earth every year. A LOT more burn up in the atmosphere. Have you heard of dinosaurs? The best theory we have about their extinction is a large asteroid hit the earth about 65 million years ago.
"How did we get to move so fast?"
A swirling cloud of gas and dust coalesced over billions of years. It retained its initial motion (conservation of momentum). We're seeing the "fossil" of that that momentum as our orbital speed.
"How come the Sun and Moon stopped still for one whole day in the times of Joshua?"
It didn't. There is no objective evidence to support that statement.
"There seems to me that looking out the windows at the clouds and sky that the Earth is NOT moving.I cannot feel it, I cannot seem to sense it."
You don't notice the stars moving through the sky? The planets changing position? Comets showing up and disappearing? We have very accurate measurements for all of these things.
