late 14c., "pertaining to (sexual) reproduction," in membres genytal "the genitals," from Latin genitalis "pertaining to generation or birth; fruitful" (also a by-name of the goddess Diana), from genitus, past participle of gignere "to beget" (from PIE root *gene- "give birth, beget"). Hence the English word came to mean "pertaining to the organs of generation." As a noun meaning "sex organ" from mid-15c. (plural genitals is from late 14c.).
Others are reading
<a href="https://www.etymonline.com/word/urogenital">Etymology of urogenital by etymonline</a>
Harper, D. (n.d.). Etymology of urogenital. Online Etymology Dictionary. Retrieved $(datetime), from https://www.etymonline.com/word/urogenital