How to get permalink and title from post ID?

I have stored an array of post IDs and I would like to list the posts as links, meaning I need to get the title and permalink for the post ID – $id. The list should be echoed out by the following if condition, which means I somehow have to replace $id with the permalink and title. At the moment the code merely lists the post ID numbers.

<?php
  if(count($related)){
    echo "<div>Read More<ul>";
    foreach($related as $id){
       echo "<li>$id</li>";
    }
    echo "</ul></div>";
  }
?>  

Solutions Collecting From Web of "How to get permalink and title from post ID?"

<?php
if(count($related)) {
    echo "<div>Read More<ul>";
    foreach($related as $id) {
        echo '<li><a href="'.get_permalink( $id ).'">'.get_the_title( $id ).'</a></li>';
    }
    echo "</ul></div>";
  }
?>  

You just need to use get_permalink( $id ) and get_the_title( $id ).