1530s, from Medieval Latin vicegerentem (nominative vicegerens), from Latin vicem, accusative of vicus "stead, place, office," (see vicarious) + gerens, present participle of gerere "to carry" (see gest). From 1570s as an adjective.
1630s, "taking the place of another," from Latin vicarius "that supplies a place; substituted, delegated," from vicis "a change, exchange, interchange; succession, alternation, substitution," from PIE root *weik- (2) "to bend, to wind."
From 1690s as "done or experienced in place of another" (usually in reference to punishment, often of Christ); from 1929 as "experienced imaginatively through another." Related: Vicariously.
"famous deed, exploit," more commonly "story of great deeds, tale of adventure," c. 1300, from Old French geste, jeste "action, exploit, romance, history" (of celebrated people or actions), from Medieval Latin gesta "actions, exploits, deeds, achievements," noun use of neuter plural of Latin gestus, past participle of gerere "to carry on, wage, perform," which de Vaan says is considered to be from the same root as agere "to set in motion, drive forward, do, perform" (from PIE root *ag- "to drive, draw out or forth, move"). Now only as a deliberate archaism. Jest (n.) is the same word, with a decayed sense.