SOAP stands for Simple (sic) Object Access Protocol. It was intended to be a way to do Remote Procedure Calls to remote objects by sending XML over HTTP.
WSDL is Web Service Description Language. A request ending in '.wsdl' to an endpoint will result in an XML message describing request and response that a use can expect. It descibes the contract between service & client.
REST uses HTTP to send messages to services.
SOAP is a spec, REST is a style.