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