'perceive' originates from Latin, specifically the word 'percipere,' where 'per-' meant 'through' and 'capere' meant 'to take.'

'percipere' transformed into the Old French word 'percevoir,' and eventually became the modern English word 'perceive' through Middle English.

Initially, it meant 'to take in or grasp through the senses,' and this meaning has largely remained the same in modern usage.