Often, people are introduced to the notion of continuity by the idea that a function is continuous if and only if its graph can be drawn without lifting the pencil from the paper.
Now, after joining an undergraduate course and learning continuity formally using $\epsilon$-$\delta$ definition, I do not see any direct correlation between the formal definition and the intuitive idea about not having to lift the pencil to draw the graph.
How can we mathematically formalize the idea of "drawing the graph without lifting the pencil", and is it actually equivalent to the formal definition of continuity?