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Theravada is 'stricter' - essentially it is required that you become a monk and journey to a monastery. It also emphasizes more on the fact that the path is one that one must take alone, that nobody can walk it for you.
Mahayana is more 'open', allowing for laypeople to participate without taking the 'full time job'. It also emphasizes more on helping each other along the path.
There are various doctrinal differences, for example, Mahayanists believe in Buddha-nature, which I am not really qualified to explain, though it is something like everyone having that capacity to be Buddha within them. But these are somewhat minor and the general attitude of both doctrine-wise is essentially the same.
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