For the proof you are looking for take a look to Prove that pivot columns of row reduced form of any matrix forms a basis in column space of that row reduced matrix. for the simpler case and here for the other Pivot columns of A are a basis for Col(A).
For the proof of this fundamental result and property of matrices you can take a look here Proofs that column rank = row rank).
For the intuition behind take a look here intuitive explanation why the row rank is equal to the column rank for a matrix.