Density is mass per unit volume, or how much matter is contained in an object which occupies a finite amount of space.
When dealing with fluids it is particularly important to remember that temperature affects density, most fluids expand when heated so a given mass will take up a greater volume. This is why sometimes a aircraft fully fueled on a summer morning and left out in the sun will start to leak fuel in the late morning or early afternoon, the fuel has expanded due to heating, and is now too big to fit in the tanks.
Mathematically
Algebraic
D = m / v
D
Density [kg m-3]
m
Mass [kg]
v
Volume [m3]
Water has a density of 1000 kg m-3, or 1 kg l-1 [where l is in litres]
Which means the mass of 1 litre of water is 1kg.