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. Comprehension usually used with of.
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Or about how something works: He noted bond's apparent lack of. Understanding implies abilities and dispositions with respect to an object.
Both comprehension and understanding can be used to talk about someone's ability to understand something.
The meaning of understanding is a mental grasp : Understanding is a relation between the knower and an object of understanding. Knowledge about a subject, situation, etc. How to use understanding in a sentence.
