Let $E,F$ be two vector spaces and $\varphi: \overbrace{E\times \cdots \times E}^{\text{$p$ times}} \to F$ a $p$-linear map. If $\sigma$ is a permutation on $S_{p}$, then we can define another $p$-linear map $\sigma \varphi: \overbrace{E\times \cdots \times E}^{\text{$p$ times}}\to F$ by: $$(\sigma \varphi)(x_{1},...,x_{p}) := \varphi(x_{\sigma(1)},...,x_{\sigma(p)})$$
Now, my book says that if $\tau, \sigma$ are two permutations, then: $$(\tau \sigma)\varphi = \tau(\sigma \varphi)$$ However, according to my calculations: $$[(\tau \sigma)\varphi](x_{1},...,x_{p}) = \varphi(x_{\tau(\sigma(1))},...,x_{\tau(\sigma(p))}) = [\sigma(\tau \varphi)](x_{1},...,x_{p})$$ since $[\sigma(\tau\varphi)](x_{1},...,x_{p}) = (\tau\varphi)(x_{\sigma(1)},...,x_{\sigma(p)}) = \varphi(x_{\tau(\sigma(1))},...,x_{\tau(\sigma(p))})$. Where is my mistake?
There is a mistake when you write
$$[(\tau \sigma)\varphi](x_{1},...,x_{p}) = \varphi(x_{\tau(\sigma(1))},...,x_{\tau(\sigma(p))}) = [\sigma(\tau \varphi)](x_{1},...,x_{p})$$
You have
$$\begin{aligned}(\tau \sigma)\varphi(x_{1},...,x_{p}) &= \varphi(x_{(\tau\sigma)(1)},...,x_{(\tau\sigma)(p))})\\ &= \varphi(x_{(\tau\circ \sigma)(1)},...,x_{(\tau\circ \sigma)(p))})\\ &= \varphi(x_{(\tau(\sigma(1))},...,x_{(\tau(\sigma(p))})\\ &= \tau(\varphi(x_{\sigma(1)},...,x_{\sigma(p)})\\ &= \tau(\sigma\varphi(x_1,...,x_p)\\ \end{aligned}$$
Therefore the equality of your book $$(\tau \sigma)\varphi = \tau(\sigma \varphi)$$