Generally clouds are held aloft by wind, particularly updrafts. The individual particles in a cloud are very tiny water droplets or very tiny ice crystals (depending on the temperature aloft in your area), but far smaller than a millimetre across. The droplets/crystals usually have a fair amount of room around them (by comparison to their very small size) so air movement can keep them aloft without them banging into each other. If the droplets/crystals get too close together, such as when there is a lot of water in the cloud, they will start bumping into each other and merging into larger particles. When the particles are heavy enough, the updrafts can not apply enough force to keep them up, and you get rain/snow (maybe snow that melts on the way down to form rain).
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