I use bubble bath in warm water: cup of tea, Very Good Book, occasionally scented candles, warmed towel on getting out.
the only time I couldn't lay in a bath was when deeply depressed, it was so agitated I would leap in, wash quickly, leap out and sit ............ feeling guilty about all the hot water I had wasted
I also love to put my feet/ankles in a bowl of soapy water ...........