'aselgeia' originates from Ancient Greek, specifically the word 'ἀσελγεια', where the prefix 'a-' meant 'not' and the root 'selge' (related to shame) meant 'shame' or 'modesty'.

'aselgeia' changed from the Ancient Greek word 'ἀσελγεια' and was transmitted into Late Latin and ecclesiastical usage (often cited in theological texts as 'aselgeia' or similar forms), eventually entering English via religious and scholarly translations.

Initially, it meant 'shamelessness' or 'lack of shame', and over time the sense narrowed/shifted in many contexts to emphasize 'licentiousness' or 'unrestrained immoral (often sexual) behavior', which is its common sense in English theological and scholarly usage.