'misperceive' originates from the prefix 'mis-' (Old English), attached to the verb 'perceive', which comes from Latin 'percipere' via Old French; in Latin 'per-' meant 'thoroughly' and 'capere' (from which 'cipere' derives) meant 'to take, seize'.

'percipere' (Latin) -> Old French forms (e.g. 'perceivre'/'percevoir') -> Middle English 'perceiven'/'perceiven' -> modern English 'perceive'; the negative prefix 'mis-' (Old English) was added to form 'misperceive'.

Initially the Latin root meant 'to take hold' or 'to seize'; over time this evolved to mean 'become aware of' or 'perceive'; with the prefix 'mis-' the compound came to mean 'to perceive wrongly'.