'usurp' originates from Latin, specifically the word 'usurpare,' where 'usu-' meant 'use' and 'rapere' meant 'to seize.'

'usurpare' transformed into the Old French word 'usurper,' and eventually became the modern English word 'usurp' through Middle English.

Initially, it meant 'to seize for use,' but over time it evolved into its current meaning of 'to take power or position illegally or by force.'