The blend between two points
Everything starts here. Pick a fraction t from 0 to 1 and you get the point that fraction of the way from A to B: (1−t)·A + t·B. At 0 you're at A, at 1 you're at B, at 0.5 exactly halfway. This single idea — a weighted blend — is the seed of every curve below.
Slide t, and drag A or B.
A curve from nested blends
Now blend the blends. With three points, slide along the first edge and along the second at the same fraction t, then blend those two moving points. The final point traces a smooth Bézier curve — and the whole scaffold of moving chords is the de Casteljau construction, the most beautiful idea in the subject.
Drag the three points; the construction sweeps on its own.
The pen tool — anchors and handles
Add a fourth point and you get the cubic Bézier — the exact curve behind the pen tool in every design app. The two end points are anchors the curve passes through; the two inner points are handles that pull the curve and set its direction as it leaves each anchor. Longer handle, lazier curve.
Drag the hollow handles to steer; drag the solid anchors to move.
Joining curves without a kink
One Bézier can't make a complex shape, so we chain them — a spline. At a join, the curves always meet (that's easy), but meeting smoothly is the trick: the handle coming in and the handle going out must point in a straight line through the join. Break that and you get a corner; honour it and the curve flows through.
Toggle the smooth join, then drag a handle near the seam.
The spline sandbox
Now draw your own. These points aren't handles to steer — the curve runs through every one of them, the way a Catmull-Rom spline threads a smooth path through a set of dots. Tap empty space to drop a point, drag to shape it, tap a point to remove it. Pull the tension from slack and rounded to taut and straight, and close the loop when you want a solid shape.