Sound waves need a medium to travel, that may be solid, liquid, or gas.
When the source of sound or object vibrates, the vibrations apply force on the surrounding particles.
The particles near the point of generation get displaced from their equilibrium position. This set of particles applies force on the adjacent particles and comes to rest.
This process continues creating a series of compression and rarefaction regions in the medium.
These series of regions form longitudinal waves or sound waves, which propagate in the medium and reach our ears.