When lava cools which type of rock forms

It forms lava or magma

Igneous rocks are formed from lava or magma. Magma is molten rock that is underground and lava is molten rock that erupts out on the surface. The two main types of igneous rocks are plutonic rocks and volcanic rocks. Plutonic rocks are formed when magma cools and solidifies underground. Volcanic rocks are formed from lava that flows on the surface of the Earth and other planets and then cools and solidifies.