For any number $k$ relatively prime to $n$, there exists a unique $l$ modulo $n$ such that $kl \equiv 1 \pmod{n}$. Consider all remainders $x$ such that $x$ is relatively prime to $n$. As $x$ is relatively prime to $n$, so is $kx$. Now: $$ki \equiv kj \pmod{n} \implies i \equiv j \pmod{n}$$
as I can divide by $k$ knowing that $\gcd(k,n)=1$. Thus, for two distinct relatively prime remainders, $x$ and $y$, $kx$ and $ky$ themselves are distinct. Thus, if we multiply all distinct relatively prime remainders $\{x_1,x_2,...,x_\phi(n)\}$ with $k$, we get distinct remainders $\{kx_1,kx_2,...,kx_\phi(n)\}$. As there are only $\phi(n)$ possible distinct remainders and one of them is $1$ as $\gcd(1,n)=1$, we have one and only one value $l = x_y$ such that $kl \equiv 1 \pmod{n}$.
If $k$ is not relatively prime to $n$, i.e. if $\gcd(k,n) \neq 1$, then such $l$ will surely not exist as, of we assume the contrary, there will be $c>1$ such that $c \mid k,n$ which would imply that $c \mid 1$. Contradiction.
Such a unique value for $l$ for the given $k$ is known as its modular inverse modulo $n$. There aren't any general expressions for $k,l$ for a given $n$, but for given $k$ and $n$, we can find the value of $l$ by trial or by being a little more careful such as below:
Question : Find $l$ such that $7l \equiv 1 \pmod{19}$
Solution: We know that $7l \equiv 1 \pmod{19} \implies 3(7l) \equiv 3 \pmod{19} \implies 21l \equiv 3 \pmod{19}$
Then, we know that $21 \equiv 2 \pmod{19}$. Thus, $2l \equiv 3 \pmod{19}$. Now, to make the coefficient of $l$ as $1$, we know that $20 \equiv 1 \pmod{19}$ and $2 \mid 20$. Thus, we can multiply both sides by $10$ :
$$2l \equiv 3 \pmod{19} \implies 20l \equiv 30 \pmod{19} \implies l \equiv 11 \pmod{19}$$
Thus, for $k \equiv 7 \pmod{19}$ , we have a unique inverse $l \equiv 11 \pmod{19}$.