Motivation is the Sobolev inequalities, but there are more basic examples. For example, consider the inclusion
$$i: C^1([0,1]) \rightarrow C([0,1])$$ This is compact since if $\{f_n\} \subset B_1(0,1)$, then for all $x, y \in [0,1]$ we have
$$|f_n(x) - f_n(y)| \leq |f_n'|_{\infty}|x - y| \leq |x - y|$$ by the mean value theorem. So $\{i(f_n)\}$ is uniformly bounded and equicontinous, hence has a convergent subsequence.
How should one think of a compact injection intuitively or informally?
If you have a compact injection, you can think of bounded sets as if they were in finite dimensions, that is, you can extract converging subsequences of your bounded sequences.