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Grammar is the whole system and structure of a language or of languages in general. It includes parts of speech (nouns, verbs, etc.), syntax (how words fit together to make sentences), and morphology (the forms of words); many people use the term "grammar" loosely so that it also covers punctuation, spelling, and word choice (as in, "Will you check my paper's grammar?").
Grammar may seem very complicated, but most of it is already in your head. You may not be able to tell someone what a subordinate clause or a conjunctive adverb is, but you have internalized grammar since you first learned to talk. You use it every time you speak or write, and you mostly use it correctly.
If you really want, you can learn all the grammar rules from scratch, but most people find it more effective to concentrate on common errors and on resources you can consult when you have a question. This learning guide will concentrate on those things.