|MLA Citation:||Bloomfield, Louis A. "Question 1588: Why does ice float on water?"|
How Everything Works 18 Oct 2017. 18 Oct 2017 <http://howeverythingworks.org/print1.php?QNum=1588>.
That lower-density objects float on water is a consequence of Archimedes' principle: when an object displaces a fluid, it experiences an upward buoyant force equal in amount to the weight of the displaced fluid. If you submerge a piece of ice completely in water, that piece of ice will experience an upward buoyant force that exceeds the ice's weight because the water it displaces weighs more than the ice itself. The ice then experiences two forces: its downward weight and the upward buoyant force from the water. Since the upward force is stronger than the downward force, the ice accelerates upward. It rises to the surface of the water, bobs up and down a couple of times, and then settles at equilibrium.
At that equilibrium, the ice is displacing a mixture of water and air. Amazingly enough, that mixture weighs exactly as much as the ice itself, so the ice now experiences zero net force. That's why its at equilibrium and why it can remain stationary. It has settled at just the right height to displace its weight in water and air.
As for why ice is less dense than water, that has to do with the crystal structure of solid ice and the more complicated structure of liquid water. Ice's crystal structure is unusually spacious and it gives the ice crystals their surprisingly low density. Water's structure is more compact and dense. This arrangement, with solid water less dense than liquid water, is almost unique in nature. Most solids are denser than their liquids, so that they sink in their liquids.