bask
Pronunciation:
\ˈbask\
Function:
verb
Etymology:
Middle English, probably from Old Norse bathask, reflexive of batha to bathe; akin to Old English bęth bath
Date:
14th century
intransitive verb
1: to lie or relax in a pleasant warmth or atmosphere
2: to take pleasure or derive enjoyment <basked in the spotlight>
transitive verb
obsolete : to warm by continued exposure to heat

In several herp books I've seen that getting heat from rocks is referred to as basking.