It's easy to see the prehendere connection in apprehend and comprehend, whereas you may be surprised that surprise is from prehendere (via Anglo-French susprendre, meaning "to capture" or "to take by surprise"). Prison, too, is from prehendere by way of Anglo-French. And misprision comes to us by way of Anglo-French mesprisun ("error, wrongdoing"), from mesprendre ("to take by mistake"), itself from prehendere. The only word that's out of place is misprize, meaning "to despise" or "to undervalue." It's ultimately from Latin pretium, meaning "value," but—in a trick move that perhaps only English could pull off—misprize has also given us a related noun meaning "contempt, scorn," in the form of an etymologically distinct misprision.