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Here's a rough explanation going from what I remember from an introductory astrophysics class:
When the solar system was being formed, there was giant amount of proto-planetary mass (gas, rubble, etc.) that was slowly spinning in a disc around the sun (I forget how it got like that) - as planets slowly formed out of the proto-planetary mass, they remained in the disc around the sun.
Of course, not sure how completely that answers your question. If you want to do a further google search, you're looking for more explanation about the "ecliptic plane"
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Eat antimatter, Posleen-boy!
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