Translation:Please wait at Seoul Station.
both 기다려'줘' and 기다려'주세요' refer to asking a favor. In English, 'please' would be enough to express your request in a polite way. However, In Korean, 기다려줘 is 반말(to your friends or younger) and 기다려주세요 is 존댓말(in a formal way, to strangers and to elders).
So, in this case, I guess the speaker is talking to his friend or someone.(BUT, kids and children, they may speak to their parents in 반말, especially if they are little kids or some adults as well.)
Wait at the Seoul Station = 서울역에서 기다려
Wait (for me) at the Seoul Station please => 서울역에서 기다려줘
기다려줘 = wait for me = shortened version of 나를 기다려줘
서울역에서 나를 기다려줘 = wait for me at the Seoul Station, please
verb stem+아/어 주다 is typically used to ask for favors. In English, you just say please blah blah blah.
Since 주다 also means to give, it implies that the action is a favor or benefits you somehow.