There is a chemical bond between two atoms or groups of atoms in the case that the forces acting between them are such as to lead to the formation of an aggregate with sufficient stability to make it convenient for the chemist to consider it as an independent 'molecular species'.
See also: agostic, coordination, hydrogen bond, multi-centre bond
Source:
PAC, 1994, 66, 1077. 'Glossary of terms used in physical organic chemistry (IUPAC Recommendations 1994)' on page 1089 (https://doi.org/10.1351/pac199466051077)