Usurp

/juːˈsɜːrp/ verb medium

To seize power, a position, or a right without legal authority or permission.

The general usurped the throne while the king was away at war.

Memory Trick

Usurp comes from Latin roots meaning to seize by use, sharing its 'seize' idea with 'rapacious' -- picture someone simply grabbing a position that was never theirs to take.