To mix together with others; to socialize and move around at a gathering while chatting with different people.
From Middle English 'mingle,' possibly from Old English 'mengan' meaning 'to mix.' Related to German 'mengen,' all from a root meaning 'to mix together.'
The word 'mingled' in social contexts is interesting because it requires both physical mixing and emotional/social engagement—you can be in a crowd without mingling, but true mingling means actually connecting.
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