Etymology
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kneel (v.)

Old English cneowlian "to kneel, fall on the knees," from Proto-Germanic *knewljan (source also of Middle Low German knelen, Middle Dutch cnielen, Dutch knielen Gothic knussjan), from PIE root *genu- (1) "knee; angle." Past tense knelt is a modern formation (19c.) on analogy of feel/felt, etc. Related: Kneeler; kneeling.

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Definitions of kneel
1
kneel (v.)
rest one's weight on one's knees;
In church you have to kneel during parts of the service
2
kneel (n.)
supporting yourself on your knees;
Synonyms: kneeling
From wordnet.princeton.edu