Soaking means making something very wet by leaving it in water or another liquid for a while.
Soaking can make things very wet and sometimes heavy. It can also make things very clean.
Examples:
I am soaking my feet in the water.
The rain is soaking the ground.
She is soaking the dirty clothes in the soapy water.
The sponge is soaking up all the water.
He is soaking wet from playing in the rain.
The cat is soaking in the bathtub.