Figures and tables are outer structures, <figure> and <table>. A <table> has a <title> and a <figure> has a <caption>.
A <table> may only contain a <tabular>, which is the structure containing the rows and columns of a table. Details can be found in Section 4.13.
A <figure> is more liberal than a <table> and may contain a variety of items. Most probably, you will include an <image> (see Section 3.7), but there are other options, such as <video> (see Section 3.25).