Etymology
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usurp (v.)

early 14c., from Old French usurper "to (wrongfully) appropriate" (14c.), from Latin usurpare "make use of, seize for use," in later Latin "to assume unlawfully, trespass on," from usus "a use" (see use (v.)) + rapere "to seize" (see rapid (adj.)). Related: Usurped; usurping.

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Definitions of usurp

usurp (v.)
seize and take control without authority and possibly with force; take as one's right or possession;
he usurped my rights
Synonyms: assume / seize / take over / arrogate
usurp (v.)
take the place of;
gloom had usurped mirth at the party after the news of the terrorist act broke
From wordnet.princeton.edu