Soaking in the Bath

When you soak, it means that you mersed in water. We also use expressions sometimes, like if you get caught out in the rain, you might say, i'm soaking wet. Could be a nice activity to do also while soaking the bath, or listening to this podcast even definitely. You can just relax and soak in there while you listen to our lovely voices and practise your english. And what exactly does that mean to soak?