Assuming I found the correct documentation for your model at Whirlpool's web site, the Soak cycle fills, agitates briefly to mix up the clothes and detergent, then turns off leaving the tub full of water to soak for as long as the user wishes. The choices then are --
A) Reset the timer to a full wash cycle which starts the selected cycle using the (soak) water already in the tub.
B) Set the timer to the Spin function which drains/spins out the soak water and turns off, then set it to a full cycle to refill and wash with fresh water (add more detergent).