Let M be a fixed left R-module. For a left R-module X, we introduce the notion of M-prime (resp. M-semiprime) submodule of X such that in the case M=R, it coincides with prime (resp. semiprime) submodule of X. Other concepts encountered in the general theory are M-$m$-system sets, M-$n$-system sets, M-prime radical and M-Baer's lower nilradical of modules. Relationships between these concepts and basic properties are established. In particular, we identify certain submodules of M, called "primeM-ideals", that play a role analogous to that of prime (two-sided) ideals in the ring R. Using this definition, we show that if M satisfies condition H (defined later) and $Hom_R(M,X){\neq}0$ for all modules X in the category ${\sigma}[M]$, then there is a one-to-one correspondence between isomorphism classes of indecomposable M-injective modules in ${\sigma}[M]$ and prime M-ideals of M. Also, we investigate the prime M-ideals, M-prime submodules and M-prime radical of Artinian modules.