How are prejudice and discrimination related?

Prejudice is the personal irrational generalization about an entire category of people (be it based on race, gender, sexual orientation, religion, etc.); it is a feeling or belief. Discrimination is the treatment of people in a negative or distinct fashion because of their membership in a category of people (be it based on race, gender, sexual orientation, religion, etc.). Discrimination can be shown in demonstrable actions, such as laws, housing, jobs, etc.