After learning his craft in the Czech Rally Championship, Prokop stepped up to the world stage in 2005 with a Junior World Rally Championship campaign at the wheel of a Suzuki Ignis.
Prokop switched to a Citroën C2 S1600 for 2006 and took his first JWRC win in Spain. Further progress came in 2007, when he finished third, thanks to wins in Germany and Corsica. He also tackled a handful of rallies in a four-wheel-drive Gp.N Mitsubishi Lancer.
In 2008 he ran both the Lancer and the C2 in the JWRC and Production World Rally Championship (PWRC) finishing third and fifth respectively. He did the same again in 2009, this time taking the title in JWRC and the runner up spot in PWRC.
He switched to the new SWRC in 2010, finishing third with a Ford Fiesta S2000. He achieved the same result in 2011.
He progressed to World Rally Car level in 2012 with a 10-event programme in a Fiesta RS World Rally Car, but apart from a fine fourth in Argentina results were generally disappointing.
Another fourth place, this time in Germany, was the highlight of 2013, when he tackled every WRC round except Australia. He ended the season as leading privateer and did the same again in 2014, when he renewed a partnership with his former co-driver Jan Tománek.
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