Rocks fall on Earth all the time
Space is not empty. Dust and small stones hit our atmosphere every day, and we see them as shooting stars. Larger rocks are rarer, and the larger they are, the rarer they get.
A rock about 10 metres across arrives about once every 10 years. It makes a brilliant fireball and a bang, and can break windows. One about 50 metres across comes every between 1,000 and 1,500 years and could flatten a city.
The truly dangerous ones are rarer still. A 1-kilometre asteroid hits about once every between 520,000 and 700,000 years. One 10 kilometres across, like the one that ended the dinosaurs, comes every between 100 million and 120 million years. These are averages, not a timetable: Earth is never "due" for one.
