Lorentz force or magnetic force is, $\overrightarrow{F}=q\left(\overrightarrow{v}\times \overrightarrow{B}\right)$

From the above expression, it is clear that the magnetic field acts perpendicular to the instantaneous direction of charge, if there is no velocity component of the charge or charge is at rest then the magnetic field cannot exert any force on the charge particle.