We use hear for sounds that come to our ears, without us necessarily trying to hear them! For example, 'They heard a strange noise in the middle of the night.'

Listen is used to describe paying attention to sounds that are going on. For example, 'Last night, I listened to my new Mariah Carey CD.'

So, you can hear something without wanting to, but you can only listen to something intentionally. An imaginary conversation between a couple might go:
'Did you hear what I just said?'
'No, sorry, darling, I wasn't listening.'
Và bạn cũng cần nhớ, “LISTEN” luôn phải có “to”  khi sau đó là một tân ngữ, còn sau “HEAR” thì không dùng “to”.