What is the difference between the terms 'illicit' and 'elicit'? Is there a connection between them?

While they may sound and look similar, illicit is an adjective describing something that is illegal or not permitted, while elicit is a verb meaning ''to bring forth a reaction or response.'' Elicit can be traced back to lacere, which means ''to allure,'' while illicit is related to licere, which means ''to be permitted.''