Imagine when we visit a company. At the front of the company, you will meet a security in the desk and they will check if you can enter here or not. Specifically, they will check you are on the visitor list and you are actually the same person on the visitor list.
After they finished to check, they will give you a visitor's card to enter some places where only allowed for the visitors. You can't access some places where only allowed to the employees. You don't have any permissions for some offices and floors.
Now this same process implemented in the web services that we call authentication and authorization.
This basically all about authenticating who you are. It's all about the point when you're entering the services.
This is all about what are you allowed to do. It checks your permission to execute something.