Waiting和Awaiting的区别Waiting Versus Awaiting
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Both words mean essentially the same thing.
They provide the connotation of sitting around in expectation of something, but they are used differently.


To wait does not take an object.
You could simply say, I waited.
If you want to explain what you're sitting around in expectation of, you could use for:

I waited for my mom to be done.


To await does take an object.
You cannot say, I awaited.
You have to follow it with more information; you cannot use for with await.


I awaited my mom.


To await sounds a bit more formal than to wait, so in normal conversation you should probably stick with I waited for my mom.