Limiting friction is the maximum frictional force at which the body is remain at rest.
For example you apply a force of 1 Newton on one side of a large concrete cube kept on road. The cube is not moving due to friction between the bottom surface of cube and the road surface. Now apply 5 Newton force, still the cube is not moving. You keep on increasing the load. Now you reached 20 Newton still the cube didn’t move. While applying 21 Newton force, it moves! Then the 20 Newton force is called limiting friction.