Procedural blocks refers to always, always_ff, always_comb, always_latch, initial etc. blocks. While procedural assignment statements refers to assigning values to reg, integer etc., but not wires(nets). 
wire elements must be continuously driven by something, and cannot store a value. Henceforth, they are assigned values using continuous assignment statements.
reg can be used to create registers in procedural blocks. Thus, it can store some value. 
reg elements can be used as output within an actual module declaration. But,reg elements cannot be connected to the output port of a module instantiation.
Thus, a reg can drive a wire as RHS of an assign statement. On the other way round, a wire can drive a reg in as RHS of a procedural block.
For clear idea about declaration of reg or wire, refer the image below:

So, whenever inferring to sequential logic, which stores/holds some value, declare that variable/port as reg. Here, Q is a reg inside a module, but while instantiating this module inside some other module, then this port must be connected to a wire.
Remember, wire can only infer to combinational logic, while reg can infer to either combinational or sequential logic. 
Dave's blog is a good source for detailed information. For further information, refer to synthesizing difference and Verilog wire-reg links.