Focus on the sensory pleasure when using 'luxuriate,' expressing physical comfort or indulgence. He would luxuriate in the scent of the freshly baked bread.
Pro Tip 2/3
Metaphoric Use
Sometimes 'luxuriate' is used metaphorically, to describe enjoying something non-material. She luxuriated in the solitude of her garden.
Pro Tip 3/3
Leisure Time
Use 'luxuriate' to describe taking pleasure in free time or relaxation, not work or tasks. On vacation, they luxuriated under the sun without a care.