But wait...dust in the solar system is a kind of friction to slow down the Earth. (Granted, it's a small effect...but acting over billions of years...plus, there's the increase in mass (again, small) of the planet which affects the gravitational interaction.)
Anyway, planets' orbits can and do change due to gravitational nudges from other planets, passing stars, etc. The interaction is complex...lose some energy here...gain some there...over and over throughout its existence. The current planets in the solar system are in what turned out to be the stable/safer orbits.
Unless something wild happens (rouge interstellar body messing up our solar system in the distant future?), the net energy loss should be negligible such that the end of the Earth won't be it spiraling into the sun but rather the sun expanding out to the Earth's orbit when it becomes a red giant.