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Not much is known for sure about Jupiter's formation except that it likely formed about 4.5 billion years ago during the creation of our solar system. Gravity took swirling gas and dust to form this gas giant. (NASA)
The Grand Tack Theory suggests that Jupiter might have contributed to the order and orbit of the planets that we know. If the theory is correct, Jupiter would have been drawn to the sun by gravity, and thus knocking and drawing terrestrial planets into orbit. Jupiter would have been drawn completely into the sun if not for Saturn (a similar Gas Giant) following behind and holding Jupiter back with its own gravitation pull. Saturn and Jupiter were then able to settle into their own orbits making the solar system as we know it. (Astrobiology at NASA)