Question on VLANs

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Hello,

Could you please explain about VLAN tagging and untagging. Also PVID and native VLAN id.

My understanding is that if a port tags vlan id for example 10, then packets with vlan id 10 will be allowed to pass through, packets with other vlan id will not be passed through. And untagging is removing the VLAN id tag.

But when a port has PVID10 and a computer is connected to that port we can use vlan 10 untag on that port. Why is like this and also what does native VLAN do? Any different than ordinary vlan?

Thanks in advance