Imagine you see current going down a wire. The wire is electrically neutral, the total charge is zero (negative charges are moving, let's say, to the left, but the stationary positive charges cancel their electric field). Pretend you don't know about magnetism, and so you say "the force from the wire is zero because the net charge is zero and the electric field is zero".
Now, electrons in a wire move very slowly, so in theory I could run along side the wire you see, myself exactly matching the drift speed of the electrons which constitute the current you observe, but going in the opposite direction that they are drifting.
What do I see? Remember I am moving at constant velocity so that my frame of reference is inertial, and so I have as much right to consider myself at rest as do you. Thus, I see a positive current moving past me, and a negative current moving past me at twice the speed.
Now, due to special relativistic length contraction, I will see more electrons/meter then I do protons/meter, and so I will feel an electric force!
But special relativity forbids there to be a force in one inertial reference frame without it being in another, and so there must be a force in your frame as well. We can derive the force in your frame by doing a lorentz transformation from my frame of reference to yours, and after this transformation the equations look different, so we call it a different force: magnetism.
In general, a pure electric or pure magnetic field will look like a mixture of electric and magnetic fields in any other inertial frame of reference.