The two popular words for this would be "dive" (or "dove", past-tense) or wade
To "dive into the water" is close in meaning to saying "jumping into the water so as to entirely (or mostly) cover oneself in water". But to "wade into the water" generally means a slower and more gentle entry into the water, and to be incompletely submerged in the water. To wade in the water further implies walking rather than outright swimming.
So if you want to note going into the water and being completely submerged, you might say "dive under the water" instead of "dive into the water", as this makes it entirely clear that you mean complete submersion - but either is pretty clear.
There are many words, which emphasize different meaning. Some are negative.
Pleasure aspect of doing whatever you want: bon vivant, hedonist, pleasure seeker.
Going wherever you want, possibly new places (metaphorically too): globetrotter, explorer, pioneer.
Free thought, defiance: maverick, liberal, free thinker, nonconformist.
Disregard for traditional social structures: bohemian, hippie, beatnik.
Disregard for manner and social grace: boor, barbarian, brute, philistine.
Ambition: doer, achiever.
Disregard for law: criminal, outlaw, gangster, robber, lawbreaker, desperado, etc.
Acting in self-interest without regard for trust: back-stabber, snitch, cheater, two-timer.
Acting in self-interest without regard for others: egoist, narcissist.
Best Answer
The word you are looking for is "satisfy":
Example from merriam-webster.com: