This only refers to people and this can have the function as a subject as well.

For instance: I met with Lara who is a native speaker from Canada 

This relative pronoun is to refer  objects and animals.

For example: The movie which I watched yesterday, was interesting.

whose has the purpose of being "posession", on the other side, it could be translated as "cuyo"

For instance: Yesterday I met with the boy whose sister is an actress.

We can use "that" either people or things and it can replace "Who" or "which" 

For example: The man that I saw at the bakery, is my new boss.

The book that I read, is very boring 

Where is for making references to places.

For instance: The park where I was running, is going to be demolished.

It is useful for using in formal contexts. Whom is for people but not as a subject, rather people are receving.

For example: whom does he love?

This kind of sentence provides relevant and important information to the main sentence.

For example: I have a friend who is living in Spain. 

This gives to the main sentence, extra information and the information is not necessary for the subject. 

For instance: The cat that i decided to adopt, is very sick.