Submerges something in liquid for an extended period, allowing the liquid to penetrate and soften it.
From Old English 'socian,' possibly related to Germanic roots meaning 'to suck.' The meaning has remained consistent since at least the 10th century.
Soaking is such a simple action that almost every culture discovered it independently for cooking beans, cleaning clothes, and healing muscles—it's one of humanity's earliest and most universal technologies!
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