Experience -
(n.)
practical contact with and observation of facts or events.
(v.) encounter or undergo (an event or occurrence).
Theory - a supposition or a system of ideas intended to explain something, especially one based on general principles independent of the thing to be explained.
Explain music to someone who’s never heard it before.
You could break down the theory of music but he won’t understand what music is until he’s observed the experience of it.