We intuitively understand why it is inevitable for a particle to progress forward in time. Relativity tells us, among other things, how objects can affect others, cause other stuff to happen and this is connected with the direction forward in time. We call this structure of "what can cause what" the causal structure.
In general relativity, this causal structure gets non-trivial, the direction of forward-in-time is bent and we observe it as gravity. Near a black hole, space-time is bent so much that any possible direction of a particle which we would call "forward in time" just points inside a black hole.
In the so called Schwarzschild coordinates there seems to be a dramatic singularity on the horizon $r = \frac{2 G M}{c^2}$ but it is actually a special point only in the sense that the continuous "rotation" of the causal structure is such that a particle of the speed of light travels "forward in time" just tangent to the horizon and the rest end up travelling further inside.
This can be nicely seen on Carter-Penrose diagrams which organize the space-time so that direction forward in time is just "up" on the diagram (up to a deviation of 45 degrees). You can see in these that from $r=2M$ we can go just "up" in the black hole. (It is however slightly complicated to understand them, so maybe stick with the previous paragraphs.)

EDIT: I am obviously just talking here about a Schwarzschild, that is, a static black hole. For other black holes there might be some corrections to the statement, see end of this post.
Jerry Schirmer has pointed out that the argument is incomplete and he is right. A fluid in the black hole is somehow imaginable to be still intact forming a "sphere" at an $r<\frac{2GM}{c^2}$ (the term sphere gets a slightly bad meaning in this case) and this argumentation does not directly imply why should it collapse if suddenly it could revert this direction of the causal structure.
Fortunately the argumentation already given can be expanded to very slightly elucidate the theorem Jerry links to.
The theorem can be very roughly understood in the following manner: Once the causal structure in a volume of points (here the horizon) starts to point into roughly one common direction, the causes have to merge somehow after a finite time and cannot continue - they end in a singularity. This is however true only due to the fact that energy-matter is only positive and thus affects space only in a specific way - not all geometrical shapes are possible.
You can get an intuition for this by looking at the picture below. Once we see ultimate causal time-directions (this is a very loose image) pointing towards a center like this, they will have to cross and merge into a singularity. But do they really have to? We are in a curved space-time - the space could "curve out" and continue infinitely in the direction outside our flat screen and the time directions would never cross. However, positive mass and energy always act on space so that this is precisely a shape that cannot be caused by it.

So to conclude, by a "trick" using geometrical analysis it can be shown that physical matter just cannot in principle "construct" a space-time so that a "causal merger", a singularity, isn't contained in the space-time.
Nonetheless, note that structures can in principle exist beyond horizons alongside singularities such as is the case of Kerr (rotating) black holes where once passing through a second horizon you can avoid falling into the ring-like singularity. The properties of this region are however considered very unstable since closed time-like curves ("self-causation") and other weird phenomena are included. Hence any kind of matter might be just the perturbation to destroy the space-time's qualitative properties and cause the matter to form a singularity anyway.