I don't think there is a specific tutorial for this, it's not as complicated as you might think.
What you cannot do:
Directly link a prefab to a scene object. For instance say "Prefab, blow this scene object up in 3 seconds."
What you can do:
Create a copy of that prefab object into your scene, then tell it "Prefab that is now an instanced copy and existing in the scene, wait 3 seconds, find the gameObject based on this information, and blow it up."
Does not work
Directly tell a Prefab (like an enemy unit) to Smooth Follow the Player. Like "Prefab, Smooth Follow this specific game object in my level."
Does work
Create a copy into the scene, find the player, then store it as a variable to follow. Like "Prefab that I just created into the scene, find the nearest object to you that has the tag 'player' and store it as a variable. Now use that variable in the Smooth Follow action."
So..
Scene objects are awake, prefabs are asleep in a sense.. You can create copies of prefabs into the scene when you instantiate them, which is just the process of instantiation, fancy way of saying that you're creating "instances" of something. It's just copies.
Nothing is alive or working or awake until it exists in the scene. Scenes are levels and as far as the runtime game is concerned if it isn't in the level then it doesn't exist. It's like shopping on the internet for a hammer. You need a hammer to kill that spider crawling up your leg but its not doing any good on the internet so you buy it with instant delivery and then you can put your hands on it and smite the spider. Until then, its just a hammer in some warehouse you look at through the internet. Nothing can happen until you order it.
Remember, there are two hierarchies: Scene and Project... Scene is like stuff you can immediately use, like the mouse and keyboard on your desk while Project hierarchy is the stuff in your closet.
Hope that makes sense.