Definitions of stipulate:

• verb:   make an oral contract or agreement in the verbal form of question and answer that is necessary to give it legal force
• verb:   specify as a condition or requirement in a contract or agreement; make an express demand or provision in an agreement

  Example: "The will stipulates that she can live in the house for the rest of her life"

• verb:   give a guarantee or promise of

  Example: "They stipulated to release all the prisoners"