Tarrasch's rule is the golden rule of rook endings: put the rook behind the passed pawn. It pushes your own pawn from behind and brakes the opponent's, growing more active as that pawn advances.
Here White has the king on a5, a pawn on b5 and the rook on h7; Black has the king on b8 and the rook on c1. White to move, and with accurate defence it is a draw (per the tablebases): the black rook harasses the pawn and the white king from the side and from behind and keeps them from advancing.
Remember Tarrasch's rule and rook endings - the commonest in practice - become far easier to navigate: an active rook behind the pawn often saves or decides the game.
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The rook belongs behind the passed pawn - your own and the opponent's alike. Behind the pawn the rook grows more active as it advances; in front, more passive.
It is a guideline, not a law. In some positions a rook in front blockades the pawn and saves the game, but by default going behind is the better bet.
It is forced to stand still and guard the queening square, losing mobility, while a rook behind keeps its freedom and presses on the pawn.
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