The ground is part of the planet earth. It’s usually the top layer. Below the ground is rock. Plants often grow on the ground.
When you say soil or earth, you often mean hummus. This is a specific type of soil that is dark, crumbly, and damp. Although hummus is not alive, it consists of substances from plants and animals. When a tree dies or an animal excretes feces, it can all become part of the hummus. Plants grow very well on hummus, which is why you can buy it in stores.
But humus is only part of the soil. Soil also contains air and water, as well as minerals. Animals, plants, and fungi also live in the soil.