The resistance is a lot stronger when endering the earth's atmosphere compared to in space. The atmosphere isn't solid, but just massively more dense. It's a bit like moving from air into water. The spacecraft has to approach at speed, at a very accurate angle to be able to penetrate the atmosphere at all, otherwise as the last person said, it would just bounce off or more likely disintegrate. The friction on entering the atmosphere which causes all the heat, is a result of the movement from almost none to very high resistence, as the space craft breaks the atmosphere and pushes through it, slowing down rapidly as a result.