@adrianmcmenamin Has the right idea here. These objects he is referring to are called Trojans, and are defined to be:
a minor planet or natural satellite (moon) that shares an orbit with a planet or larger moon, but does not collide with it because it orbits around one of the two Lagrangian points of stability (trojan points), L4 and L5, which lie approximately 60° ahead of and behind the larger body, respectively.
Near to each massive body in the solar system (Earth included) are minima, maxima, and saddle points in the potential energy landscape due to the combination of said object and the Sun.
It is possible for objects to essentially get caught in the more stable of these extrema. Jupiter, being the most massive, has quite a number of these types of objects.
However, one such object has been discovered orbiting around a stable Lagrange point in 2010, called 2010 TK7.
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