Digital audio is composed of thousands of numbers, called samples. Each sample holds the state, or (loudness), of a sound at a given instant in time. For images, each point of light, or pixel, has a certain brightness and location and all pixels combine to make a picture (see figure below). For digital audio, all the samples combine to make a waveform of the sound. Figure: Samples
Samples

When playing audio, each sample specifies the position of the speaker at a certain time. A small number moves the speaker in and a large number moves the speaker out. This movement occurs thousands of times per second, causing vibration, which we hear as sound.