lux·u·ri·ate 
/ˌlʌgˈʒɚriˌeɪt, Brit ˌlʌgˈzjʊəriˌeɪt/ verb
lux·u·ri·ates; lux·u·ri·at·ed; lux·u·ri·at·ing /ˌlʌgˈʒɚriˌeɪt, Brit ˌlʌgˈzjʊəriˌeɪt/ verb [no obj] : to enjoy something that is appealingly rich or relaxing — usually + in ▪ He spent the morning luxuriating in his bed. ▪ She luxuriated in the beauties of the natural world.
