Sound waves exist as variations of pressure in a medium such as air. They are created by the vibration of an object, which causes the air surrounding it to vibrate. The vibrating air then causes the human eardrum to vibrate, which the brain interprets as sound.
In the diagram below, the black dots represent air molecules. As the loudspeaker vibrates, it causes the surrounding molecules to vibrate in a particular pattern represented by the waveform. The vibrating air then causes the listener’s eardrum to vibrate in the same pattern.