Those two words are often interchangeable, but not always. The verb 'recall' cannot be used to mean 'not forget to do'.
For example, you can say this:
Did you remember to lock the door?
But you cannot say this:
Did you recall to lock the door.
They are basically interchangeable when you mean 'bring (something) back into your mind' or 'not forget doing (something)'.
You can say these:
Do you remember locking the door?
Do you remember his name?
And you can say these:
Do you recall locking the door?
Do you recall his name?
Maybe someone else will have some further comment for yu.
Student or Learner