verb
luxuriate
lug-ZHOOR-ee-ayt/lʌɡˈʒʊriˌeɪt/
To take great pleasure in comfort or pleasurable sensations.
She luxuriates in a deep, padded chair under a soft blanket.

Etymology
Luxuriare links having an abundance with indulging to excess. Luxuriate can describe exuberant growth, but in this sense that abundance becomes deep enjoyment of something pleasant or comfortable.
In context
In that you could relax, you could luxuriate. You know, you could feel the presence of somebody else.
More examples
- After work, I luxuriate in a warm bath.
- They luxuriated in the sunshine after weeks of rain.
- He spends Sunday mornings luxuriating in the softness of fresh sheets.
Forms
luxuriate · luxuriates · luxuriated · luxuriating