Leeds Castle Bath by pixiepie.
Fun fact; while some people in medieval times hated bathing, not everyone in that time did. In fact, some thought that bathing could cure some illnesses.
Tubs were made of wood, were often round, and had a cloth like tent around it for privacy. They were sometimes placed in the garden, and workers would fill the tub up with hot water bucket by bucket until it was the preferred temperature. They sometimes washed with herbs, due to the pleasant smell and also thinking that this too could alter some illnesses.
For those who could not afford a tub, public baths were somewhat common, though they had a fairly large risk of burning down.
As well as bathing, it was also customary to wash your hands before eating, so a bowl of water was often put outside a room, so people could wash before entering.
As time went on, bathing became less common due to the church believing it caused sickness, and sinful thoughts and behaviors.