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It's not exactly a "substance" but Density = Mass / Volume
The volume and mass of a substance are independent of the substance itself, but depend upon how much there is of the substance The density of a substance is the relation between how much volume you have of a substance and how much mass that volume has (and vice-versa). It is independent of how much there is of the substance and is thus a characteristic of the substance.
In the metric system, the units of measurement of Volume is the Liter (sometimes spelled Litre) and the measurement for mass would be the gram. In the American system, the units of measurement for Volume is the ounce, and for mass would be the pound.
The density is measured by dividing the mass of the substance with it's volume. Density = Mass/Volume.
Percentage by Mass = Mass of substance of interest/Total Mass Percentage by Volume = Volume of substance of interest/Total Volume Converting from one to the other requires information about their relative densities.