To wait in Starfield, you need to find a chair, sofa, bench, stool, or bed. Approach the furniture and press the interact button (E on PC or A on Xbox) to sit or lie down. Then, a prompt will appear to press the wait button (B on PC or Y on Xbox). After pressing the wait button, you can choose how many hours to wait by adjusting a slider and then confirm by pressing the interact button again. This mechanic lets you pass time quickly in the game. Waiting in a bed also grants a "well-rested" experience boost bonus. Note that waiting simply passes time and does not restore health as sleeping does.