Etymology
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restful (adj.)

mid-14c., "characterized by or conducive to rest, characteristic of a contemplative life;" late 14c., "quiet, peaceful, tranquil;" from rest (n.1) + -ful. Related: Restfully; restfulness.

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Definitions of restful

restful (adj.)
affording physical or mental rest;
she spent a restful night at home
Synonyms: reposeful / relaxing
From wordnet.princeton.edu