'bicker' originates from Middle English, specifically the word 'bikeren', where the origin is uncertain and the form is likely imitative.

'bicker' changed from Middle English the word 'bikeren' and eventually became the modern English word 'bicker'.

Initially, it meant 'to move quickly or to skirmish' (or was an imitative word), but over time it evolved into its current meaning of 'to argue about petty matters'.