The heat, known as residual heat, has existed in our planet's core since its formation. It's called residual heat. Because of this, the convection cycles we see in the mantle. Once this heat dissipates, the convection cycles cease. This happened in the case of Mars. It will also happen on Earth, but it takes time. This convection is the primary driving force behind plate tectonics. It serves as the primary mechanism for heat transfer; radiative elements also contribute to this process, but we cannot distinguish the mechanism by which the machinery generates the heat. The plates also move with the force of the slab pull. But this single unit cannot produce enough force to move; the first primary force is mantle convection cycles.