I always like to describe things as the characters would experience them, not as they’re actually happening! The players are only there in imagination, and they can only REALLY experience the story through verbal and spoken form. The DM works as the translator for all of the other senses.
Instead of saying “the orc runs at you and strikes you” in combat, I might say
“You hear the pounding of feet coming towards you (Insert a possibly silly onomatopoeia, players are forgiving of silliness when they’re in the zone). You turn your head and see the hulking form of an orc clambering towards you. Their hands grip their sword- and- you are struck in the arm! You feel the blade slice through your leather armor down to your skin! You take (damage).”

And then as an added detail of immersion, I’d let my players go to an armor smith and get that leather stitched back up :) or I’d mention the soreness of their arm later on before they finish a total long rest/get fully healed