using computer/mixer/headphone for practice

Just about any USB recording interface should work. I do this with a Focusrite Scarlett 2i2. a Scarlett solo should work. The interface looks like a sound card to the computer. Play computer files through the interface and plug your bass into the interface. You can mix both sound sources as you wish. I use my Scarlett as a permanent sound card. It drives a stereo amp and decent monitor speakers. I can switch to headphones if I need to not bother the wife.

A small mixer would work, using the headphone jack on your computer, but I think an interface would work and sound better. As an additional benefit, the interface can be used to record with, if you decide to get into that.
 
Most combo bass amps anymore have an "aux in" and "headphone/line" out port - usually 1/8" stereo plugs. You can skip the mixer like that. I've found that the newer mini amp technology has a better headphone out bass tone. I've just ordered a Laney NX Mini-Bass for my home office setup, hoping for a good tone. I keep a Digitech Trio + and a VOX Mini 3w amp there to practice tracks - works well and doesn't take up much space. I think the Laney will be a nice addition.

 
If you don't want to mess around with drivers for the USB interface and the odd routing issue that can make things complex sometimes, a mini mixer would do just fine.

The Mackie/Behringer/Alesis stuff at the $100 price point would suffice, but you can go smaller and a bit higher quality with options from Rolls.

However, if you intend to use software amp modellers on your computer at any point, I would just go with a USB interface and be done with it. Lots to choose from at entry level price points ~$100.
 
I think, the best way is a bass amp or preamp with headphones out and aux in.

if you're not aiming for the record, an audio interface is much unnecessary complications. mixer? uhm, that will work, but likely:
1. you'll want an external DI
2. you'll be more satisfied with your tone with a proper bass amp/preamp

as for recommending one, well, it depends on your tonal goals. if going from the cheaper ones, I'd try the HoTone Nano Legacy Thunder Bass, check if you like the tone. used EBS Microbass could be also a nice thing. or maybe your head/combo already has the headphones out and aux in.
 
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As mentioned, a lot of small combos include an aux in and a headphone out. For that matter there are some pedals that do, like the Ampeg SCR-DI.

My own setup I use a small mixer. Just a little one like this is all you need for home practice - Mackie Mix5 5-channel Compact Mixer .

Get a 1/8"-to-red/white cable to input your computer to the "tape" line, plug your bass into channel one, a pair of headphones and off you go.
 
Most combo bass amps anymore have an "aux in" and "headphone/line" out port - usually 1/8" stereo plugs. You can skip the mixer like that. I've just ordered a Laney NX Mini-Bass for my home office setup, hoping for a good tone. I keep a Digitech Trio + and a VOX Mini 3w amp there to practice tracks - works well and doesn't take up much space. I think the Laney will be a nice addition.

Following up on my own post, well the Laney arrived and was real disappointment. It probably would have been OK with headphones, but as a simple practice amp it had almost no volume (and it was repacked and returned within a few hours). I ended up going for a Vox Pathfinder Bass 10w, it's a bit larger than I was looking for but makes up for the size with a decent sound. While my regular bass rig is Ampeg, my guitar amps are VOX. Now my office setup is a matched set ;). I rarely use headphones on this setup, but with a small mixer it would work using the line outs from the two amps. The Pathfinder is a pretty simple setup, no aux in, very basic controls, AC power only. I use the Trio for drum and guitar parts, then work out my bass parts. I'm pretty pleased with the setup, the whole thing sits on a shelf (fyi: the Trio footswitch works great).

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