'rape-prevention' originates as an English compound of 'rape' and 'prevention'; 'rape' ultimately derives from Latin 'rapere' meaning 'to seize' and 'prevention' ultimately derives from Latin 'praevenire' meaning 'to come before.'

'rape' passed into English via Old French/Anglo-Norman forms (from Latin 'rapere') and came to denote forcible seizure and, later, sexual violation; 'prevention' came into English from Old French and Middle English forms based on Latin 'praevenire' and became 'prevention' in Modern English.

Initially, 'rape' primarily meant 'to seize' (in Latin) and referred more generally to seizure or carrying off; over time in English it shifted to specifically denote sexual assault. 'Prevention' originally meant 'the act of coming before' or 'preventing' and has retained the sense of stopping something from happening.