I read sometime ago in a book (Purcell - Electricity and Magnetism ch. 5.6):
If you have an extense wire with net charge desnsity equal to zero in some referencial, i.e. its linear density $\rho_r = 0$, in such way: You have the positive charges non-moving but with some space between them and moving negative charges.
Suppose you have another charge in some point around the wire and it's at rest in this referential.
If you go to another referential, using relativity stuff, you can show that now you'll have a net charge density in the wire and it'll exerce a force in that charge that's quite equal the Magnetic force that shoub be acting (it's even proportional to the current).
Soo, you can understand magnetic force, in first approximation, as an "relativistic face" of the electric force.
I extremely recommend you to read the chapter I said above, I'm not good trying to explain such things.