If we place a typical coin on a table, it will almost immediately fall due to gravity. However, with a little push it will roll and not fall anymore until friction eventually slows it down enough to come to a halt. Since it is a round object (disk-like) it will roll and therefore gain a spin angular momentum. Since it has an angular momentum (thanks to the motion) it will precess and experience a gyroscopic effect which prevents it from falling, as we can see the wobbling effect as it slows down.
Though I know this is the underlying explanation for why the moving coin doesn't fall immediately, I fail to see the underlying force/torque diagram, namely, as soon as it is tilted, a torque rotates it back to the vertical position, but I fail to deduce the direction of the torque diagrammatically. Without the tilt, the angular momentum is perpendicular to the face of the coin (so in the horizontal direction), but when titled the angular momentum also tilts, but the gravity force remains along the vertical. So how do we get to the torque that goes against the tilt?