Lower pair: A pair is said to be a lower pair when the connection between two elements is through the area of contact and the relative motion between elements is purely turning or sliding. All sliding, turning and screw pairs form lower pairs.
Some of the types of Lower pair are:
Screw Pair ( Helical pair )
Higher pair: A higher pair is defined as a pair in which the connection between two elements has only a point or line connection. The relative motion between the elements consists of a combination of sliding and turning motion which is very different from the purely sliding and turning motion of a lower pair.
Examples of higher pairs are:
A point contact takes place when spheres rest on a plane or curved surfaces (in the case of ball bearings)