The whole planetary assembly process probably took about 100 Million years. Light from the Sun dispersed the remaining gas in the Solar Nebula gas into the interstellar medium. Planetary motions reflect the history of their formation. Planets share the same sense of rotation, but have been perturbed from perfect alignment by strong collisions during formation. Rotates in the same direction with its axis aligned with the plane of the Solar System.
Planetary compositions reflect the different conditions in which they formed.
These are the basic outlines of our current understanding of how our Solar System formed. The basic picture seems sound, but there are many details to be worked out. For example, we are still not sure how Jupiter grew as large as it did, or what influence it had on the formation of the rest of the solar system. A great deal depends on how much solar radiation can penetrate deep into the outer parts of the primordial Solar Nebula. The real test will be to observe other planetary systems in the process of formation, and draw information from those to apply to unraveling the history of our own system.