This is the 10995th most frequent German word.
schlüpfen
To slip, hatch, or glide into/out.
Here, 'schlüpfen' means to hatch, specifically used for the emergence of animals like chicks from their eggs.
Das Küken schlüpft aus dem Ei.
The chick hatches out of the egg.
In this case, 'schlüpfen' refers to putting on clothes or shoes quickly and easily.
Ich schlüpfe schnell in meine Schuhe.
I quickly slip into my shoes.
Here, 'schlüpfen' is used to describe moving discreetly or slipping through an opening.