Compressed sensing (CS) is an emerging field of mathematics and engineering that challenges the conventional paradigms of digital data acquisition. Since the seminal publication of Candès et al. (2006), the field has developed a substantial academic literature and has provided the foundation for major innovations in medical imaging, astronomy, and digital photography. Although CS is very mathematical, it can be conceptually intuitive. This tutorial provides a brief introduction to CS concepts through simple examples and interactive figures in an accompanying Jupyter notebook at github.com/seg/tutorials.