The International Tokamak Physics Activity (ITPA) has developed a comprehensive overview of the results of its coordinated R&D activities in fusion physics and diagnostics implemented during the past two decades with the aim of developing an improved physics basis for the operation of tokamak burning plasma experiments. Here, an introduction is presented to key concepts in the physics of burning plasmas in tokamaks, together with an overview of the scope of the principal areas of physics R&D pursued by the ITPA Topical Physics Groups in which the critical issues, major areas of progress and most significant recent results are highlighted. This paper introduces the following collection of articles, which encompass detailed presentations of the progress achieved by the Topical Groups in preparing the physics basis for the operation of tokamak burning plasma experiments expected to come into operation in the 2030s.