Glucose has a carbon/oxygen backbone. Other hydrogen, carbon, and oxygen atoms are on the sides of the backbone. The UK Biotopics website has excellent glucose structure illustrations.
Two glucose molecules have "OH" groups facing each other. Condensation produces a water molecule and an oxygen atom with two bonds (OH + OH -> H2O + -O-). The "-O-" portion connects two glucose molecules, combining them into one longer chain-like formation as outlined in Clinton Community College's Organic Chemistry--Condensation article.
Condensation reactions repeated over many glucose molecules in a row give biochemically complex sugars (polysaccharides). These complex molecules are necessary for cell function.
Glucose condensation is typically assisted by an enzyme type (synthase). Synthase is not used up during reactions, but instead facilitates and speeds up the process.
The condensation reaction can proceed in reverse. Two bonded glucose molecules and a water molecule combine to absorb the H2O among the two glucose fragments. As a result, the glucose portions separate.