STEEP

to saturate or completely soak, as in to let a tea bag steep

let sit in a liquid to extract a flavor or to cleanse
SYN - infuse
"steep the fruit in alcohol"

"his plan was to go home steep his body in hot water and then fall asleep to an old movie."

"the fact that you had to steep the fruit in a very specific kind of alcohol further extended the prestige and sophistication of the drink."

"as he let the tea bag steep he walked across the room to complete some other chores."