1. To undergo the feelings and sensations of a particular situation, often in a way that affects you a lot, especially psychologically or intellectually. English = experience.
2. To pay attention to a particular situation in order to remember or learn as much from it as possible. Idiomatic English = take in, pick up, absorb.
3. To learn a skill by watching and doing, especially speaking or signing a language, by being exposed and immersed in it as a child. English = acquire.