"to lap or fold over, to partially extend over, extend so as to rest or lie upon," 1726; see over- + lap (v.2). Verbal phrase lap over "extend beyond" is recorded from 1630s. Related: Overlapped; overlapping.
"the lapping of one thing over another; thing or part which overlaps," 1813, from overlap (v.).
there was no overlap between their proposals
Our vacations overlap
The roofs of the houses overlap in this crowded city