Qenya
kiryasta-
verb. to sail, to sail [a ship], *make a ship go
qe e·kárie i kirya aldaryas, ni kauva kiryasta menelyas
if he finishes the boat by Monday, I shall be able to sail on Wednesday
There are more words but they are from Tolkien's earlier conceptional periods. Tolkien likely changed these words as he evolved the aesthetics and completeness of the languages. You may even find languages that Tolkien later rejected. Do not mix words from different time periods unless you are familiar with the phonetic developments.
Below: Tolkien's Late Period (1950–1973). These are from Tolkien's late conceptual period — his most settled forms of the languages. Prefer these over the earlier ones above when composing new text.
A verb for “to sail” appearing in the phrase ᴹQ. qe e·kárie i kirya aldaryas, ni kauva kiryasta menelyas “if he finishes the boat by Monday, I shall be able to sail on Wednesday”, from the Quenya Verbal System (QVS) of 1948 (PE22/121). It is a verb form of kirya [cirya] “ship”, so more exactly appears to mean “to sail [a ship], ✱make a ship go”.
Conceptual Development: The English-Qenya Dictionary of the 1920s had ᴱQ. salta- “sail, used of any smooth steady progression” (PE15/77), while the slightly later Early Qenya Word-list had ᴱQ. lut- “float, sail” (PE16/134).
Neo-Quenya: For purposes of Neo-Quenya, I would ciryasta- only for the act of making a ship go: i hesto ciryasta i cirya “the captain sails the ship”. For the movement of the ship itself, I would us lut- “float, [ᴱQ.] sail”: i cirya lute i earessë “the ship sails on the sea”.