Fetching details from the dictionary...

to draw (water); to ladle; to dip up; to scoop up; to pump
to pour (into a cup); to drink (together)
to consider (feelings, the situation, etc.); to sympathize with; to intuit; to understand
to draw upon; to inherit
井戸から水を汲んできました。
I drew water from the well.
相手の気持ちを汲むことが大切だ。
It's important to understand others' feelings.
祖母は井戸から水を汲んだ。
My grandmother drew water from the well.