Auscultare means to listen to.
While this technically does mean "to listen" or "to hear attentively" (L&S), this is NOT the most common verb that you will see to describe this activity. I've been don't believe I've ever come across this word. When I was looking this up for you, the major usages I could find were in Plautus. So if you're not imitating Plautus or writing a comedy, maybe you'd be better off with another verb.
A word that's more common is "audio, audire, audivi, auditum." Don't confuse this and "audeo" (to dare).
it means to hear, listen
Origin from latin; specifically, late latin. meaning: hear; to hear; listen
The root word of "audio" is "audire," which is Latin for "hear" or "listen."
The root aud comes from the Latin word audire -to hear, listen.
auditoryauditaudio
Audi! is the command Listen! in English.
The word Audi is based on a latin translation of the word "Horch." In Latin Audi means to hear or to listen. August Horch was the founder of Audi and the word "horch" in German translates to "hark."
The root word of "auditorium" is "audire," which is Latin for "to hear." The word "auditorium" originally referred to a place where people could listen or hear performances, lectures, or presentations.
The word "audible" comes from the Latin word "audire," which means "to hear" or "to listen." It entered the English language in the early 17th century, derived from the Latin phrase "audibilis," meaning "able to be heard."
The root word "aud" comes from the Latin word "audire," which means "to hear." A verb derived from this root is "audire" itself, which means "to listen" or "to hear." In English, words like "audition" and "auditory" are derived from this root word.
The root meaning of "audio" comes from the Latin word "audire," which means "to hear" or "to listen."
The word has Latin origins 'oboedire' meaning to pay attention to or to listen to. This Latin word passed into Old French as 'obeir' to obey. The word then passed into English as 'obey' meaning to carry out instructions or orders, or to comply with demands.