The bowl of soup will cool down to room temperature, and the glass of ice water will warm up to room temperature. This is a thermodynamic fact of life - if you have any two objects with different temperatures together in a closed system, they will resolve themselves to the same temperature by heat transfer. Heat is atomic motion. At the temperature absolute zero there is no atomic motion. But as atoms get warmer they move.
Heat is transferred when one atom runs into another.
When this happens, it is a little bit like billiard balls colliding - the second atom picks up some of the motion of the first atom. Heat is transferred by these collisions. The best example of this phenomenon would be to take a metal bar and heat one end of it. The other end will get warm and then hot through conduction. When you put a metal pan on the stove, the inside of the pan gets hot through conduction of the heat through the metal in the bottom of the pan.