Constant means not changing over time. Start from fundamental laws (Column's law). If there is a static charge sitting in space, only electric field exists. And it can be calculated through Gaussian's law. Divergence of the field is equal to the total charge within the closed surface. No magnetic field in such case.
When charge moves, It becomes time varying, since motion need speed, which is distance over time. Thus it creates time varying electric field. Then according to Faraday and Ampere's law, time varying E field creates space varying H field, and vise versa. This makes the E and H field co-exists and sometimes propagate.
Maxwell's equations summarize Faraday, Ampere, Gaussian's law together, it contains 4 equations and is complete in describing E and H fields in non-relativity scope.