How do I get the floating keyboard back to normal

Touch-and-hold the “keyboard” key at bottom-right of the on-screen keyboard; without lifting your finger from the screen, slide your finger to the [Merge &] Dock option - then release.

Use the floating keyboard on your iPad – Apple Support

Split and move the keyboard on your iPad – Apple Support

Do you see a little keyboard symbol on a key in the lower right corner? Tap or hold down on that and you should see an option to ‘dock’. That would bring your keyboard back where it’s normally at