To take upon oneself; to start, to embark on (a specific task etc.).

To commit oneself (to an obligation, activity etc.).

“He undertook to exercise more in future.”

To overtake on the wrong side.

“I hate people who try and undertake on the motorway.”

The business of an undertaker, or the management of funerals

A promise or pledge; a guarantee

That which is undertaken; any business, work, or project which a person engages in, or attempts to perform; an enterprise