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The difference is best illustrated by a couple of examples:

1. A minor attends a part at a friend's house while the parents are away, and particpates in causing damage to the house. There are laws that say in that case the parents of the minor can be liable for the damages. The minor is guilty of an intentional tort and is directly liable, but if the minor is unable to pay for the damages, the parents, who did not participate, are guilty by vicarious liability.

2. A delivery man in a company truck causes a traffic accident, injuring people and damaging property. It turns out the delivery man had a lousy driving record and his employer knew it but kept him on. The delivery man is guilty of negligence and is directly liable, and the employer is guilty vicariously for having knowingly kept a dangerous driver on as an employee.

In each case the persons who are liable "vicariously" did not participate in the underlying tortious conduct. In the former case the parents are guilty solely because the law wants to try to make parents responsible and more observant of their children's activities (and it would be unfair for the people whose home was damaged to be left without recourse, potentially if their insurance doesn't cover the damage and the minor has no money), but in case #2 the employer is guilty also of negligence, but a different kind.

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