Let’s start by noting that although the Proton has the exact same charge as the Electron, its charge is positively. However, the Proton is 1, 836 times more massive than the Electron. It is therefore a heavy particle, in a comparatively speaking. Because the number Protons is greater than the number Electrons, an atom can be considered neutral. The Electron and the Proton have an attraction force. Without going into too many details, it can be said that the attractive force and its mass kind of stop the Proton orbiting the nucleus. Of course, there are other reasons that require further explanation.
Although the Proton is located in the nucleus, away from orbiting Electrons, the attraction force exists between them. The presence of mediating particles within the force field prevents them from interacting. These particles collectively are called Bosons. Bosons are force-carriers.
Imagine two people throwing a ball at one another. The ball will be thrown and caught by both players at the same time, so long as they keep doing this, they will always be apart. If the ball is thrown fast enough that it is difficult for an observer to see, it may appear that the two players have been “bound” by an invisible force.
Although the above approach is very simplistic, it does provide some insight into the sub-atomic levels.