A density matrix is a matrix that describes a quantum system in a mixed state, a statistical ensemble of several quantum states. This should be contrasted with a single state vector that describes a quantum system in a pure state. The density matrix is the quantum-mechanical analogue to a phase-space probability measure (probability distribution of position and momentum) in classical statistical mechanics.
UPDATE:
Explicitly, suppose a quantum system may be found in state $| \psi_1 \rangle $with probability $p1$, or it may be found in state $| \psi_2 \rangle$ with probability $p2$, or it may be found in state $| \psi_3 \rangle$ with probability $p3$, and so on. The density operator for this system is
$$\hat \rho = \sum_i p_i | \psi_i \rangle \langle \psi_i|,$$
where $\{|\psi_i\rangle\}$ need not be orthogonal and $\sum_i p_i=1$. By choosing an orthonormal basis $\{|u_m\rangle\}$, one may resolve the density operator into the density matrix, whose elements are
$$\rho_{mn} = \sum_i p_i \langle u_m | \psi_i \rangle \langle \psi_i | u_n \rangle = \langle u_m |\hat \rho | u_n \rangle.$$
The density operator can also be defined in terms of the density matrix,
$$\hat \rho = \sum_{mn} |u_m\rangle \rho_{mn} \langle u_n| $$
For an operator $\hat A$ (which describes an observable A of the system), the expectation value $\langle A \rangle$ is given by
$$\langle A \rangle = \sum_i p_i \langle \psi_i | \hat{A} | \psi_i \rangle = \sum_{mn} \langle u_m | \hat\rho | u_n \rangle \langle u_n | \hat{A} | u_m \rangle = \sum_{mn} \rho_{mn} A_{nm} = \operatorname{tr}(\rho A)$$
In words, the expectation value of A for the mixed state is the sum of the expectation values of A for each of the pure states $|\psi_i\rangle$ weighted by the probabilities pi and can be computed as the trace of the product of the density matrix with the matrix representation of A in the same basis.
For more details see:
http://en.wikipedia.org/wiki/Density_matrix