In our course about combinatorics, our maths teacher recently introduced to us the notion of cardinality with the following definition:
Let $E$ be a set. If there exists an integer $n$ and a bijection $\Phi:[[1,n]] \rightarrow E$, the integer $n$ is unique and is called Cardinal.
But it doesn't cover the case where E is infinite. How could one calculate the cardinal of $\mathbb{R}$ for instance ?
The simplest way to look at cardinality for the first time is as a relation between sizes of sets; you can worry about the actual 'cardinal numbers' later.
(Also, the problem with cardinalities of infinite sets is that foundational issues bite really hard, so I should clarify that in what follows I work within ZFC.)
Two sets $X$ and $Y$ 'have the same cardinality' if there is a bijection between them, i.e. $|X|=|Y|$ if and only if there is some bijection $f : X \to Y$. Note I haven't defined what $|X|$ or $|Y|$ mean in isolation yet. So for example $|\mathbb{N} \times \mathbb{N}| = |\mathbb{N}|$, because there is a bijection $f : \mathbb{N} \times \mathbb{N} \to \mathbb{N}$ defined by $f(m,n)=2^m(2n+1)$ for all $m,n \in \mathbb{N}$. Another example is that $X$ is a finite set with $n$ elements if and only if $|X|=|[n]|$, where $[n] = \{ 1, 2, \dots, n \}$ - this is essentially the same as the definition of finite cardinality you've been given.
We can also define $|X| \le |Y|$ to mean that there is an injection $X \to Y$. The content of the Cantor-Schröder-Bernstein theorem is that if $|X| \le |Y|$ and $|Y| \le |X|$, then $|X|=|Y|$. We can then define $|X| < |Y|$ to mean $|X| \le |Y|$ and $|X| \ne |Y|$.
So although we haven't defined what the cardinality of a set is, we can now compare the cardinalities of sets by asking whether there is an injection and/or a bijection between them. For instance:
We can give names to cardinals, for example, we normally write $\aleph_0$ for $|\mathbb{N}|$. Given a set $X$, we write $|\mathcal{P}(X)|=2^{|X|}$; thus the second bullet point above shows that $|\mathbb{R}|=2^{\aleph_0}$.