Is there a word that means "to turn into a habit"?

"Joe wanted to find a way to /adopt/embrace/take up/ healthy eating."

• adopt - to take and follow (a course of action, for example) by choice or assent

• embrace - to adopt or support willingly or eagerly

• take up - to develop an interest in or enter into: take up mountain climbing

habitualize

Not yet in dictionaries, but why wait? It shows up in exactly this meaning on Google's NGram--to make a habit of.

But! OED to the rescue. A derivative of habitual.

haˈbitualize v. (trans.) to render habitual.

a1774 A. Tucker Light of Nature Pursued (1777) III. iv. 44 With the sole expectation of rivetting and habitualizing the three virtues thereby in our hearts.

Also regularize might be considered. But habitualize is on target.

Internalize is used in that sense.

"Joe wanted to find a way to internalize healthy eating."

Usage examples:
Google search for "internalize healthy eating" (158 results at the time of posting)

ODO:

internalize
VERB

[WITH OBJECT]
1 Psychology
Make (attitudes or behavior) part of one's nature by learning or unconscious assimilation.

‘At the moment many people have internalised corrupt behaviour as normal in their daily lives.’