There are two types of checkpoints where you can respawn in Elden Ring. These are Sites of Grace and Stakes of Marika.

Sites of Grace:

Sites of Grace are your main checkpoint and function almost exactly like bonfires in the Dark Souls games. Resting at a Site of Grace will allow you to respawn at that particular checkpoint no matter where you die.

Stakes of Marika:

Stakes of Marika are secondary checkpoints that you don't need to interact with. So long as you die within the vicinity of a Stake of Marika, you will be given the choice to respawn there instead of your last Site of Grace.