
eintauchen
to dive in
To move oneself or something completely below the surface of a liquid, usually water.
Er liebte es, im Sommer in den kühlen See einzutauchen.
He loved diving into the cool lake in summer.
to dive in / immerse
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to dive in
To move oneself or something completely below the surface of a liquid, usually water.
Er liebte es, im Sommer in den kühlen See einzutauchen.
He loved diving into the cool lake in summer.

to immerse oneself in
To engage intensively with a topic, activity, or foreign world and focus on it completely.
Mit diesem Buch kann man tief in die Welt des Mittelalters eintauchen.
With this book, you can immerse yourself deeply in the world of the Middle Ages.

to dip
To briefly put something into a liquid or a soft substance.
Sie tauchte den Pinsel in die Farbe ein und begann zu malen.
She dipped the brush into the paint and began to paint.
'Eintauchen' is a separable verb. The prefix 'ein-' comes at the end in a main clause. In subordinate clauses and in the infinitive with 'zu', the verb stays together.
Ich tauche nur kurz ins kalte Wasser ein.
I’m only dipping briefly into the cold water.
The perfect tense is formed with 'sein' when a person themselves dives into or immerses themselves in something, literally or figuratively. It is formed with 'haben' when a person dips an object into a liquid.
Sie ist mutig ins Meer eingetaucht.
She bravely dove into the sea.
The figurative meaning 'sich intensiv beschäftigen' (to engage with something intensively) is always used with the preposition 'in' (+ accusative). You can immerse yourself in a world, a story, a topic, or a culture.
Wenn ich einen guten Roman lese, tauche ich komplett in die Geschichte ein.
When I read a good novel, I completely immerse myself in the story.
to dive / dip
Both verbs can describe something entering a liquid. Here, tauchen refers to moving something completely into the liquid briefly. Eintauchen can describe the same process, but it emphasizes more strongly the movement below the surface.

Zum Färben taucht Lea das Tuch langsam vollständig in die Flüssigkeit ein.
To dye the cloth, Lea slowly immerses it completely in the liquid.
Zum Färben taucht Lea das Tuch kurz in die Flüssigkeit.
To dye the cloth, Lea briefly dips it into the liquid.