I'm going to go and soak in the bath.

我要去泡个澡。

《牛津词典》

There's nothing better than a long soak in a hot bath.

没有什么比好好地泡个热水澡更舒服的了。

《牛津词典》

I was having a long soak in the bath.

我当时正在浴室里长时间地泡浴。

《柯林斯英汉双解大词典》

Pedicure to keep them smooth with an oatmeal bath soak and hot mask.

WSJ: Maintaining the Gloss

Or take Burt's Bees' Baby Bee Buttermilk Bath Soak.

FORBES: Getting Milked

And the bathing facilities are clean, although some travellers make the pilgrimage to the local sento (Japanese public bath) for a soak.

BBC: Capsule Ryokan Kyoto, where modern meets traditional