bekommen ==> to be given (generic)
erhalten ==> to be given (professional)
entgegennehmen ==> to take receipt of
empfangen ==> to receive
besorgen ==> to fetch
kriegen ==> to get
The first two specifically denote that someone else is giving it.
The third denotes that you may not be the final recipient (usually about deliveries).
The fourth is about something having been sent (both objects and people).
The fifth is about going to get it.
And the last is the very generic and mostly colloquial coverall.