Two Ways to Score It

Under policy $\pi$, the Bellman expectation equation for the state-value function is $V_\pi(s) = \sum_a \pi(a|s) \sum_{s'} P(s'|s,a) [R(s,a,s') + \gamma V_\pi(s')]$. Given this, how does the action-value function $Q_\pi(s,a)$ relate to $V_\pi(s)$?