I did this spiel this morning on the air with Adam.
לְדַבֵּר (leh-dah-BEHR) is probably the first word that comes to mind, if you know some Hebrew. That's the generic word for to talk or to speak.
But as widely used as לדבר is, it carries a tinge of harshness - just like to speak is a bit harsher than to talk. This is especially true in Biblical Hebrew.
So there's another word in Hebrew that feels lighter, freer. It's related to the word שִׂיחָה, meaning conversation (see-KHAH). The word is לְשׂוֹחֵח (leh-soh-KHEH-ahkh).
For example, שׂוֹחַחְתִּי עִם אָדָם הַבֹּקֶר בָּרַדְיֹו - I talked/chatted/schmoozed with Adam this morning on the radio (soh-KHAHKH-tee eem AH-dahm hah-BOH-kehr bah-RAH-dyoh).
This verb falls loosely under the active-intensive פיעל (pee-EL) pattern. Start listening for it.