the short answer
Muscular endurance is the ability of a muscle or muscle group to sustain or repeat contractions against a sub-maximal load over time without fatiguing. Where maximal strength asks how much you can lift once, endurance asks how many reps you can complete before the muscle gives out. You train it with lighter loads, high reps, and short rest.
This article is general programming information for coaches, not medical advice - load, rep ranges, and testing should always be tailored to the individual client and their health history.