Given a voltage step at the input, the time required to charge the capacitor to 63.2 % of its full charge is known as the time constant τ=RC. After five time constants, 5τ, the capacitor charge will reach 99.3 %. In this example the pulse duration is half a second, which is exactly five time constants.
Adjust resistance, capacitance and the input pulse width to see how they affect the output voltage waveform. Plot the current through the capacitor.