(a) rarer to denser medium:
When a ray of light travels from optically rarer medium to optically denser medium, it bends towards the normal.

(b) denser to rarer medium:
When a ray of light travels from an optically denser medium to an optically rarer medium it bends away from the normal.

(c) normal to the surface separating the two media:
A ray of light incident normally on a denser medium, goes without any deviation.
