Specifically the electrons in the atoms of the ground and the electrons of the atoms of yourself repel each other when they come together.
“So pushing just two atoms close to each other takes energy, as all their electrons need to go into unoccupied high-energy states. Trying to push all the table-atoms and finger-atoms together demands an awful lot of energy – more than your muscles can supply. You feel that, as resistance to your finger, which is why and how the table feels solid to your touch.“ https://theconversation.com/if-atoms-are-mostly-empty-space-...
