Ultra-reliable　and　low-latency　communications　(URLLC)　are　considered　as　one　of　three　new　application　scenarios　in　the　fifth　generation　cellular　networks.　In　this　work,　we　aim　to　reduce　the　user　experienced　delay　through　prediction　and　communication　co-design,　where　each　mobile　device　predicts　its　future　states　and　sends　them　to　a　data　center　in　advance.　Since　predictions　are　not　error-free,　we　consider　prediction　errors　and　packet　losses　in　communications　when　evaluating　the　reliability　of　the　system.　Then,　we　formulate　an　optimization　problem　that　maximizes　the　number　of　URLLC　services　supported　by　the　system　by　optimizing　time　and　frequency　resources　and　the　prediction　horizon.　Simulation　results　verify　the　effectiveness　of　the　proposed　method,　and　show　that　the　tradeoff　between　user　experienced　delay　and　reliability　can　be　improved　significantly　via　prediction　and　communication　co-design.　Furthermore,　we　carried　out　an　experiment　on　the　remote　control　in　a　virtual　factory,　and　validated　our　concept　on　prediction　and　communication　co-design　with　the　practical　mobility　data　generated　by　a　real　tactile　device.