Your understanding might be that your mother will always drive you to school if you miss the bus. Understanding a concept means you get it. He noted bond's apparent lack of.
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Comprehension usually used with of. Both comprehension and understanding can be used to talk about someone's ability to understand something. Understanding implies abilities and dispositions with respect to an object.
Or about how something works:
Knowledge about a subject, situation, etc. Understanding is a relation between the knower and an object of understanding. The meaning of understanding is a mental grasp : How to use understanding in a sentence.
