익혀요 · 익혔어요 · 익힐 거예요 · 익히세요
to learn, to master, to get used to; to cook (thoroughly)
Example
외국어를 잘하려면 기본 문법을 먼저 익혀야 해요.
To be good at a foreign language, you have to master basic grammar first.
Word parts
Causative of 익다 'to ripen, to become familiar': making something 'ripe' in your head or pan.
Good to know
Also 'to cook through': 고기를 잘 익혀 주세요 = Please cook the meat well.