Ice is in fact the solid state of water. The water molecules in ice are held by intermolecular forces to form crystals. Because of the strong intermolecular force, the water molecules can only vibrate but have no prominent tranlational motion. Hence, ice remains as a solid.
When heat is given to ice, the water molecules gain kinetic energy, which enabling them to break the strong intermolecular force. These molecules then become free to move around to some extent though they are still held by the intermolecular force. Because of this increased translational motion of water molecules, the solid form of ice disappear and liquid water is formed.