Hiding or Being Stealthy
Make a Dexterity (Stealth) check when you attempt to conceal yourself from enemies, slink past guards, or sneak up on someone without being seen or heard. (80)
If you do this during combat, then you also have to take the Hide action. When you take the Hide action, you make a Dexterity (Stealth) check in an attempt to hide, following the rules for hiding. If you succeed, you gain certain benefits. (93)
Being Discovered. Until you are discovered, your Dexterity (Stealth) check's total is contested by the Wisdom (Perception) check of anyone actively searching for signs of your presence. (80)
When you hide, there’s a chance someone will notice you even if they aren’t searching. To determine whether such a creature notices you, the GM compares your Dexterity (Stealth) check with that creature’s passive Wisdom (Perception) score. (81)
Factors when Hiding
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The GM decides when circumstances are appropriate for hiding. (80)
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You are more difficult to find in lightly or heavily obscured areas. (86)
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Certain armor may hinder your ability to be stealthy. (63)