Concerto
A concerto sets one soloist against an orchestra. The Classical concerto has three movements: a fast first movement, a slow middle, and a quick finale that is usually a rondo.
The first movement is a sonata form with a twist. The orchestra plays the exposition alone first, staying in the home key; then the soloist enters and the exposition is played again, this time moving to the second key as a normal exposition would. This catalog labels those two passes Exposition 1 and Exposition 2. Development and recapitulation follow as usual. Near the end the orchestra stops on a chord and the soloist plays alone: the cadenza, originally improvised, later written out by the composer. The coda comes after it.
Baroque concertos like Bach's Brandenburgs work differently: a returning orchestral passage (the ritornello) alternates with solo episodes, closer to a rondo than to sonata form. Romantic concertos loosen the double exposition and sometimes let the soloist begin at once.
How to hear it
In a Classical first movement, wait for the soloist's first entry. Everything before it is the orchestral exposition; the soloist then starts the material again.
The cadenza is easy to spot: the orchestra falls silent, the soloist plays freely, and a long trill signals the orchestra's return.
In the finale, count the returns of the refrain as in any rondo. The soloist and orchestra often trade it back and forth.
In Bach, listen for the ritornello: the full-group passage that opens the movement and keeps coming back between solo stretches.
Source: Concerto