What we percieve as sound is basically a small vibration in the air.
A sound speaker is simply a cone (a normal plate of cardboard could also work) that vibrates. When vibrating, it pushes the air molecules away from it in pulses. The air near the speaker will therefore start vibrating in the same manner. This will in turn push away other air molecules, and you get a soundwave.
A soundwave is almost exactly the same as a wave in a stretch of water, except that the displacement of the water is perpendicular to the direction of travel, while the displacement of the air in a soundwave is in the same direction as the direction of travel.
So sound is nothing more than some vibrating medium (usually a gas, sometimes a solid or liquid). If there is no medium (a vacuum for example) there is NO sound.You can then define things as soundpressure (the pressure exerted by the moving air molecules), sound pressure level (a logaritmic decibel scale you probably know) etc...
Look on wikipedia for more basic information about frequency, etc...