I like to think of it as 'counting partitions with a certain property'...
We split the partitions $p(n,k)$ into $2$ disjoint classes that together comprise $p(n,k)$. So if we can count each class, then we've counted $p(n,k)$.
Let class $A$ contains all the partitions of $n$ into $k$ parts where at least $1$ of the partition elements is a $1$. So these all look like $1 +$ stuff.
The rest, class $B$, don't have any $1$ elements. These partitions could look like almost anything, but you won't find a $1$ in there anywhere. There are still $k$ parts that add to $n$.
It should be clear that these two classes are disjoint and taken together comprise all the partitions of $n$ into $k$ parts.
So if we count class $A$ and class $B$ we've counted all the partitions and we'll have our answer $p(n,k)$, so let's do that ...
Look at class $A$. We already noticed every partition in class $A$ looks like $1 +$ stuff. Well, the sum of stuff is $n-1$. How many pieces are in stuff? They all have $k-1$ pieces. There are no other restrictions on stuff, but then stuff is just all the partitions of $n-1$ into $k-1$ parts. So the count of class $A$ is $p(n-1,k-1)$.
Now look at class $B$. The sum of the parts is still $n$. There are $k$ parts, but each part is $\geq 2$. That means we can subtract $1$ from each part, but then the sum is $n-k$. Each part is now $\geq 1$, but that's just the definition of the partition of $n-k$ into $k$ parts. So the count of class $B$ is $p(n-k,k)$.
That's it.