If you are on the near side of the moon[1], you will always see Earth see around Earth as it rotates and as the moon orbits it. You will also see it in different phases, like how we see lunar phases from Earth. If you are on the far side of the moon, you will not see Earth at all as you will always be facing away from it.

[1] The Earth does move in the moon's sky a bit. If you are on the near side but getting close to the far side, the Earth will be below the horizon sometimes.