"Perpetual motion" itself is not inconsistent with known physical laws. Newton's first law is:
" A body remains at rest, or in motion at a constant speed in a straight line, except insofar as it is acted upon by a force."
So, without some force like friction, motion continues "forever".
But, there always seems to be some sort of force involved, so if "forever" means infinite time, then even infinitesimal forces need to be considered in predictions.
But, it is the "perpetual motion machine" that is inconsistent with physical laws of motion. The concept of a "machine" doing useful work involves using energy, which is in effect applying forces to whatever motion is being conceived as "perpetual". So according to Newton's First Law of Motion, using that motion will decrease it, and thus it would not be "perpetual".
Things like the tides going in and out may seem like they are perpetual, because, in our lifetimes, they do not seem to change. But, in fact, they are slowing the rotational rate of the Earth and boosting the orbital radius of the Moon, just by very small fractions of their totals. But, that is why the Earth's rotation rate is slowing and the Moon is receding, because the Earth is effectively "doing work" to raise the Moon.
Eventually the Earth would slow enough to be tidally locked to the Moon, just like the Moon is already tidally locked to the Earth. So, they would rotate together until yet another force interfered. The Sun is expected to expand and envelope the Earth in about 5 billion years, so somebody should be asking if that is the end of Earth, not just its rotation.