percipio

Etymology
From.

Verb

 * 1) to seize or take on (entirely); assume; earn; occupy, keep (i.e. maintain control)
 * 2) to perceive, observe, notice
 * 3) to feel, perceive
 * 4) to learn, know, conceive, comprehend, understand
 * 1) to feel, perceive
 * 2) to learn, know, conceive, comprehend, understand
 * 1) to learn, know, conceive, comprehend, understand

Conjugation
Note there is an old form for.