As you explore the wasteland, you'll encounter various beds that you can sleep in. If you can't find one wandering around, try a Hotel.
Sleeping in beds will regenerate your health but it'll also tack on an added benefit that gives you a nice little bonus to experience gain. If you sleep in a bed, you'll get the Well Rested perk for a limited time. The Well Rested perk applies a temporary 10% experience gain to your character. Before you sleep in a bed, map out what you're going to do with the added bonus. Maybe you grind some enemies in a zone that you're familiar with. Maybe you try and tackle some higher level combatants.
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