This paper proposes a tentative and original survey of meeting points between Knowledge Representation and Reasoning (KRR) and Machine Learning (ML), two areas which have been developed quite separately in the last four decades. First, some common concerns are identified and discussed such as the types of representation used, the roles of knowledge and data, the lack or the excess of information, or the need for explanations and causal understanding. Then, the survey is organised in seven sections covering most of the territory where KRR and ML meet. We start with a section dealing with prototypical approaches from the literature on learning and reasoning: Inductive Logic Programming, Statistical Relational Learning, and Neurosymbolic AI, where ideas from rule-based reasoning are combined with ML. Then we focus on the use of various forms of background knowledge in learning, ranging from additional regularisation terms in loss functions, to the problem of aligning symbolic and vector space representations, or the use of knowledge graphs for learning. Then, the next section describes how KRR notions may benefit to learning tasks. For instance, constraints can be used as in declarative data mining for influencing the learned patterns; or semantic features are exploited in low-shot learning to compensate for the lack of data; or yet we can take advantage of analogies for learning purposes. Conversely, another section investigates how ML methods may serve KRR goals. For instance, one may learn special kinds of rules such as default rules, fuzzy rules or threshold rules, or special types of information such as constraints, or preferences. The section also covers formal concept analysis and rough sets-based methods. Yet another section reviews various interactions between Automated Reasoning and ML, such as the use of ML methods in SAT solving to make reasoning faster. Then a section deals with works related to model accountability, including explainability and interpretability, fairness and robustness. Finally, a section covers works on handling imperfect or incomplete data, including the problem of learning from uncertain or coarse data, the use of belief functions for regression, a revision-based view of the EM algorithm, the use of possibility theory in statistics, or the learning of imprecise models. This paper thus aims at a better mutual understanding of research in KRR and ML, and how they can cooperate. The paper is completed by an abundant bibliography.