悟る

間違いを悟るのに彼はほんの数分かかっただけだ。

It took him only a few minutes to realize his mistake.

これで法律を守らなければならない事を悟るだろう。

This should make them realize that they must obey the law.

確認しておくが―秘密を聞くか私のように自分で悟るか？

Just to be clear—will you hear the secret, or figure it out yourself like I did?

— アバウト・タイム ～愛おしい時間について～ (2013)

少し考えれば君は自分が間違っていることを悟るだろう。

If you think about it for a moment, you'll realize that you're wrong.