How to not to delete if record exists as a foreign in another table?

I have 2 tables. If I delete a record from table1 then first query should check if it's pk exists as a foreign key in table2 then it should not delete the record else it should.

I used this but throwing syntax error

DELETE FROM Setup.IncentivesDetail
INNER JOIN Employee.IncentivesDetail ON Setup.IncentivesDetail.IncentivesDetailID = Employee.IncentivesDetail.IncentiveDetail_ID
WHERE Setup.IncentivesDetail.IncentivesDetailID= @IncentivesDetailID
    AND Employee.IncentivesDetail.IncentiveDetail_ID= @IncentivesDetailID

UPDATE:

Based on the answers below I have done this, is it correct ?

If Not Exists(Select * from Employee.IncentivesDetail where IncentivesDetail.IncentiveDetail_ID= @IncentivesDetailID)
        Begin
            Delete from Setup.IncentivesDetail
            WHERE Setup.IncentivesDetail.IncentivesDetailID= @IncentivesDetailID
        End
        Else
        Begin
            RAISERROR('Record cannot be deleted because assigned to an employee',16,1) 
            RETURN  
        End