WAP is a protocol used to deliver cut-down web pages. It can be thought of as similar to HTML (used for standard web-pages). To use it, you use a WAP browser on a device, it doesn't have to be a phone (e.g. PDA). You can access WAP pages over any kind of network link, as long as you have the address (e.g. http://wap.yahoo.com). When you access the WAP browser on your handset, you are making a data telelphone call, much the same as you would dial up the internet from a landline. So, you would use up your minutes (as it is treated as a phone call).
GPRS, on the other hand, is a data transmission standard - i.e. used to get data from one place to another. It doesn't matter if that data is WAP pages, Sound, Pictures, MP3's - whatever. Your phone is treated like a terminal connected to an always-on network. You don't have to dial up like you do with WAP. To use the home analogy, it is like ADSL (though a HELL of a lot slower!).
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