Question: "I want to know how does the determinant of the matrix is related to inverse of matrix or why is that if determinant is zero then inverse doesn't exist? What exactly is inverse?"
Answer: You may use the Cayley-Hamilton theorem to prove that an $n\times n$ matrix $A:=(a_{i,j})\in M_n(k)$ with $k$ any commutative unital ring, is invertible iff $det(A)\in k^*$ is a unit.
The Cayley-Hamilton theorem says the following: Let $I(n)$ be the $n\times n$-identity matrix and let
$$p_A(t):=det(tI(n)-A)\in k[t].$$
It follows $p_A(t)$ is a monic polynomial
$$p_A(t)=t^n-tr(A)t^{n-1} + \cdots +(-1)^n det(A)$$
with coefficients in $k$ and $(-1)^ndet(A)$ as "constant term". The Cayley-Hamilton theorem says that
$$p_A(A):=A^n-tr(A)A^{n-1}+\cdots + (-1)^ndet(A)I(n)=$$
$$A^n+a_{n-1}A^{n-1}+\cdots + a_1A +(-1)^n det(A)I(n)=(0)$$
is the zero matrix $(0)$. From this we get an explicit formula for the adjugate matrix, $adj(A)$ in terms of the coefficients $a_i$ of $p_A(t)$ and $A$: We get
$$A(A^{n-1}+a_{n-1}A^{n-1}+\cdots +a_1I(n))=Aadj^*(A)=adj^*(A)A=(-1)^{n+1}det(A)I(n),$$
since $A$ commutes with any power $A^j$ for $j\geq 1$ an integer.
Here we define
$$adj^*(A):=A^{n-1}+a_{n-1}A^{n-1}+\cdots +a_1I(n),$$
and we may define
$$adj(A):=(-1)^{n+1}adj^*(A)$$
where
$$adj^*(A):=A^{n-1}+a_{n-1}A^{n-1}+\cdots +a_1I(n).$$
From this it follows
$$Aadj(A)=adj(A)A=det(A)I(n).$$
The determinant $det(-)$ has the property that $det(AB)=det(A)det(B)$ and we get the following result:
Lemma: A matrix $A\in M_n(k)$ is invertible iff $det(A)\in k^*$ is a unit.
Proof: If $A$ is invertible there is a matrix $B$ with $AB=BA=I(n)$ hence
$$det(AB)=det(A)det(B)=1\in k^*$$
and it follows $det(A)$ is a unit. Conversely if $det(A)\in k^*$ define
$$A^{-1}:=\frac{1}{det(A)}adj(A)\in M_n(k).$$
It follows $AA^{-1}=I(n)=A^{-1}A,$
hence $A$ is invertible. We get an explicit formula for the adjunct matrix $adj(A)$ in terms of the coefficients $a_i$ of $p_A(t)$.