angular momentum - Why does the Earth rotate on its axis?

I know that the earth moves around the sun because of the gravity force, because the spacetime around the sun is curved.

But why does the earth rotate on its axis, and which parameters can affect this motion?

Answer

The dominant hypothesis regarding the formation of the Moon is that a Mars-sized object collided with the proto-Earth 4.5 billion years ago. The Earth is rotating now because of that collision 4.5 billion years ago.

As the linked question shows, angular momentum is a conserved quantity. Just as something has to happen to make a moving object change its linear momentum, something has to happen to make a rotating object change its angular momentum. That "something" is called force in the case of linear momentum, torque in the case of angular momentum.

External torques do act on the Earth. Tidal forces transfer angular momentum from the Earth's rotation to the Moon's orbit. The Moon formed fairly close to the Earth shortly after that giant impact 4.5 billion years ago, and a day was probably only four to six hours long back then. By a billion years ago, the Moon had retreated significantly and the Earth had slowed down so that a day was 18 to 21 hours long. The Earth has continued slowing down, and will continue to do so.

If those external torques didn't exist we would still have a fast spinning Earth.