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The most commonly accepted theory is that an object the size of Mars hit Earth several billion years ago. Debris was ejected from the Earth and eventually accumulated into the Moon.
There are other interesting theories, such as the Earth and Moon forming at the same time and place during the creation of the Solar System, or the material that formed the Moon being flung off the Earth as it spun quickly. The capture hypothesis states that the Moon formed as a planet much like Earth and was later captured by Earth's gravitational pull.