Here is a simple explanation: They can't fall in due to Heisenberg's uncertainty. For that, I'd need you to accept as an axiom[1] (unprovable truth) that the following principle is true:
ΔpΔx (uncertainty of momentum times uncertainty of position) is roughly equal (or greater) to some constant, we'll call it H.
Due to this, if one uncertainty grows smaller, the other grows larger.
If the electron is located in the nucleus, its position (Δx) would be much more narrow than if it was around the nucleus. Since the uncertainty of Δx goes down, Δp must go up co compensate. Turns out, this Δp is enough to give it an enough momentum to overcome attractive force.
But then comes a smart observer, and says, but what if an electron managed to lodge itself exactly into the center of a proton. Since Coulomb's law says F= q1q2/r^2, and r is 0[2], that's Infinity! You can't escape infinite charge attractiveness!
To that, you can notice that as r and Δx approaches 0, Δp also approaches infinity, so it will have more chance to escape before that happens. But in some rare cases, it will interact and form a neutron, with some energy being emitted as a neutrino.
[1] It's not an axiom, it's an observation derived from experiments. However, why is the matter behaving like that out of physics wheelhouse. It can tell you a lot about laws, but very little WHY are laws like that. So it might as well be an axiom.
[2] This is, of course, assuming that space is infinitely divisible, which is yet to be confirmed or denied.