Relative clauses are introduced by relative pronouns like who, which, that, whose or relative adverbs like where and when. There are two types of relative clauses: defining clauses that provide essential information about a noun and are not separated by commas, and non-defining clauses that provide extra information and are separated by commas. Defining clauses cannot omit the relative pronoun/adverb or use "that", while non-defining clauses cannot omit the relative word.