For many languages, velarization is generally associated with more dental articulations of coronal consonants so that dark l tends to be dental or dentoalveolar, and clear l tends to be retracted to an alveolar position.
The palatalized/velarized contrast is known by other names, especially in language pedagogy: in Irish and Scottish Gaelic language teaching, the terms slender (for palatalized) and broad (for velarized) are often used. In Scottish Gaelic the terms are caol (for palatalized) and leathann (for velarized).
The terms light or clear (for non-velarized or palatalized) and dark (for velarized) are also widespread. The terms "soft l " and "hard l " are not equivalent to "light l " and "dark l ". The former pair refers to palatalized ("soft" or iotated) and plain ("hard") Slavic consonants.