Keeping things at a "basic level", a field is a function from a base manifold (of dimension $D4) to some other space. Usually, the base space is the spacetime but it may be something different (a lattice, etc etc).
For example, it's simple to construct the classical action of a complex scalar field over the usual 3+1 spacetime. Imagine now that we want to let this field interact with a classical membrane, or a string-like object, or a point particle immersed in spacetime. How to write the action for such a theory in which a "low dimensional field" (zero-dimensional in the case of the particle) is immersed into spacetime? The situation is not conceptually different from when we write the action for a charged particle immersed in a background electromagnetic field. How to generalise the theory (the variational principle) in such a way as to have the coupled equations of motion for the particle and the field?