When we add water to milk, they get mixed properly because
particles of milk get into the spaces between particles of the water.
Particles of matter are unimaginably small and there is a lot of empty space between these particles.
Thus, when two matters are mixed, particles of one matter get into the spaces between the particles of another matter.
When we add water to milk, the particles of water enter the empty spaces between the particles of milk and inversely the particles of milk also enter the empty spaces between the particles of water. Thus, they get mixed properly.