godan verb (-mu), intransitive verb
doze off; nap lightly; slumber
Describes a light, gentle sleep, often during the day or in a relaxed setting. More poetic than 居眠りする.
ソファでうとうとまどろんでいた。
I was dozing off on the sofa.
春の陽気に誘われて、ついまどろんで
Lured by the spring weather, I ended up dozing off.