A picaresque novel is a type of story where the main character has to go on a long adventure and usually has to get into trouble along the way.
Imagine you are reading a book about a boy who leaves his house and has to go through many different towns to find his way back home. On his journey, he meets many different people, some of whom are nice and some who try to trick him.
The boy might have to steal food to survive or find a way to get money to continue his journey. He might even have to lie or cheat to get what he wants.
The picaresque novel is a story that is usually told in a very funny and entertaining way, but it also teaches us about the challenges of growing up and facing different situations.