The first difference is that procedural memory is our memory of an action, or skill. For example, how to ride a bike, drive a car, swim. Whereas episodic memory is the ability to recall specific events (episodes) from our lives. For example, we tend to remember each year of our lives distinctly to other years.
The second difference is that procedural memory does not require conscious effort to recall, whereas a conscious effort is need to recall episodic memories.