An object in orbit is still falling, constantly, but it's also "going" outwardly, sufficient that it falls in an infinite (almost) arc around the planet. It's 17,000 mph for low Earth orbit. Geostationary orbites are much higher (and slower). Once you hit 25,000 mph, you are leaving Earth's gravity well, which is necessary to get to the Moon (and beyond).
That also means when you return from the Moon you're going to come back around 25,000 mph.