Epiphany means:
* A moment of sudden and great revelation or realization.
* (in Christianity) The manifestation of the divinity of Jesus to the Gentiles, represented by the visit of the Magi.
While there isn't a verb directly related to "epiphany", you can use verbs to describe the experience of an epiphany, such as:
* Realize
* Discover
* Understand
* Perceive
* Grasp
* See