。
To live in comfort.
Literal
Wealthy-[adverbial-に] live.
A bare infinitive-feeling sentence — plain dictionary form, no subject, no full context. 裕福 ('wealthy, well-off') is a na-adjective; the adverbial form 裕福に attaches to 暮らす ('to live, make a living'). 暮らす is about ongoing lifestyle rather than mere existence (which would be 住む).