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Menu-driven is within an open program, the user clicks the "File" option from the drop down menu bar and selects Quit. (Ex: Notepad)
Non menu-driven is user have to use another way like command to quit from the program. (Ex: in vi editor in linux, presses the ":" key and then presses the "q" key to quit the program. )
A menu-driven environment like most programs in Microsoft Windows is easier for users as it is a graphical environment and allows the user to navigate using the mouse. A non menu-driven environment like the command line can be quicker, but requires more memorization and is more difficult for new computer users.