Pressure is the number of collisions with the container per unit area. Imagine a particle in a box of length $L$. Assuming for the moment that it only moves in the $x$-direction, whenever it collides with a wall of the container the wall will gain momentum from the particle:
\begin{align}
\Delta p &= p_{\mathrm{final}, x} - p_{\mathrm{initial}, x} \\
&= p_{\mathrm{final}, x} - (- p_{\mathrm{final}, x})\\
&= 2p_{\mathrm{final}, x}\\
&= 2mu_x,
\end{align}
where $u_x$ is the $x$-component of velocity.
The particle hits a specific wall every $\Delta t = \frac{2L}{u_x}$, since it travels the length of the box twice. Force can be defined as momentum per unit time, therefore
$$ F = \frac{\Delta p}{\Delta t} = \frac{mu_x^2}{L}$$
For $N$ number of particles, the expression becomes
$$ F = \frac{Nm\overline {u_x^2}}{L},$$
where $\overline{u_x^2}$ is the mean square velocity of the $N$ particles.
Now, we can extend the situation so that our particle can move in three directions. Since the box is cubic, the $x$-, $y$-, and $z$-components are equivalent:
$$ \overline{u_x^2} = \frac{\overline{u^2} }{ 3}$$
Therefore,
$$ F = \frac{Nm\overline {u^2}}{3L}.$$
The area of any wall is $L^2$, so
\begin{align}
p &= \frac{F}{L^2}\\
&= \frac{Nm\overline {u^2}}{3L^3}\\
&= \frac{Nm\overline {u^2}}{3V}
\end{align}
This leads to the expression
$$pV = \frac{1}{3}Nm\overline{u^2}$$
See also Wikipedia.