to recognize: to look at someone or something and correctly identify what it is
This is the everyday verb for the moment of recognition. You see a face, a garment, a voice, or a piece of evidence, and you know who or what it is. Jacob recognizes his son's bloodied coat; Judah recognizes the seal and cord he had left as a pledge; Boaz takes notice of Ruth; the people can tell the shout of joy from the sound of weeping. The word covers the full arc of that act, from simply catching sight of something familiar to formally acknowledging it as true.
From there the meaning widens in two natural directions. One is mental: to recognize can shade into paying attention to, taking account of, or even knowing how to do something, as when the children of mixed marriages could no longer recognize how to speak the language of Judah. The other is formal and legal: to acknowledge a claim, as when a father must acknowledge his firstborn's right.
The sharpest specialized use is a courtroom idiom. To recognize faces, literally to know faces, means to show partiality, to let who a person is sway a verdict that should rest only on the facts. The law forbids it: judges must not recognize faces, and a wise teacher warns that to recognize faces in judgment is not good. Here the ordinary good of recognition becomes a danger, because the judge is recognizing the wrong thing.