Waves undergo a change of direction (they bend) when they are refracted at the boundary between two materials. The light ray will bend towards the normal when entering a denser material, it will bend away from the material when entering a less dense material.
Refraction happens because there is a change of speed in the wave, in the denser medium the ray travels slower, in the less dense medium it travels faster.
Wave fronts are the best way to show this. The part of the wave front that hits the different medium first causes the wave front to turn because one side is going slower than the other side.
When the wave enters a denser medium its speed reduces. This mean its wave length shortens and its frequency remains constant.
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