A material object spans certain distances. In other words, it takes up space. This property is called volume.
Volumen is a magnitude which is measured in m3 in the International System of Units.
Mass
is related to the amount of matter that is contained within a given
volume. Mass is a magnitude which is measured in kg in the
International System of Units.
The ratio of mass to volume is called density.
Density is a magnitude which is measured in kg/m3 in the International System of Units.
density = mass / volume
You can practise calculating densities here.
The following visual will allow you to learn how to calculate densities.