tauchen
to dive
To go underwater and stay there for a certain amount of time, often as a sport or profession with special equipment.
Im Urlaub haben wir gelernt, im Meer zu tauchen.
On vacation, we learned to dive in the sea.

to dive / dip
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to dive
To go underwater and stay there for a certain amount of time, often as a sport or profession with special equipment.
Im Urlaub haben wir gelernt, im Meer zu tauchen.
On vacation, we learned to dive in the sea.

The meaning of 'tauchen' depends on whether it has an accusative object. Without an object, it means that a person goes underwater. With an object, it means that you put something into a liquid.
Er taucht gerne im Roten Meer.
He likes diving in the Red Sea.
For a person going underwater, the perfect tense is usually formed with 'sein', because it is a movement. When you dip something into a liquid, 'haben' is always used.
Wir sind gestern zum ersten Mal getaucht.
We went diving for the first time yesterday.
When talking about diving as an activity, the preposition 'in' with the dative is often used to name the location. When searching for something, you use 'nach' with the dative.
Die Biologen tauchen im See nach seltenen Wasserpflanzen.
The biologists dive in the lake for rare aquatic plants.
When moving something into a liquid, 'tauchen' is often used in culinary contexts. Typical phrases are 'in eine Soße tauchen' (to dip into a sauce), 'in Schokolade tauchen' (to dip in chocolate), or 'in den Kaffee tauchen' (to dip into coffee).
Zum Nachtisch gab es Früchte, die man in flüssige Schokolade tauchen konnte.
For dessert, there was fruit that you could dip into melted chocolate.
to swim
'schwimmen' and 'tauchen' both happen in water. You use 'schwimmen' when a person moves through the water using their arms and legs, usually at or near the surface. You use 'tauchen' when someone goes underwater and stays there, often only briefly or with equipment. Learners may confuse the words because both describe water sports or movement in water. The most important difference is: when swimming, you move through the water; when diving, you go below the surface of the water.

Im klaren Wasser tauchte Maria bis zu den bunten Fischen hinunter.
In the clear water, Maria dived down to the colorful fish.
Omar schwimmt jeden Samstag eine Stunde im Hallenbad.
Omar swims for an hour at the indoor pool every Saturday.