"Then what I ask," said the damsel, "is that your magnanimous person accompany me at once whither I will conduct you, and that you promise not to engage in any other adventure or quest until you have avenged me of a traitor who against all human and divine law, has usurped my kingdom."
In a word, Senor Don Alvaro Tarfe, I am Don Quixote of La Mancha, the one that fame speaks of, and not the unlucky one that has attempted to usurp my name and deck himself out in my ideas.
…courtesy and magnanimity he has granted me the boon of accompanying me whithersoever I may conduct him, which will be only to bring him face to face with Pandafilando of the Scowl, that he may slay him and restore to me what has been unjustly usurped by him: for all this must come to pass satisfactorily since my good father Tinacrio the Sapient foretold it, who likewise left it declared in writing in Chaldee or Greek characters (for I cannot read them), that if this predicted knight,…
…any question as to your name, nor can your name fail to identify your appearance; unquestionably, senor, you are the real Don Quixote of La Mancha, cynosure and morning star of knight-errantry, despite and in defiance of him who has sought to usurp your name and bring to naught your achievements, as the author of this book which I here present to you has done;" and with this he put a book which his companion carried into the hands of Don Quixote, who took it, and without replying began…
There are no more uses of "usurp" in the book.
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Henry IV usurped the throne from Richard II while the latter was fighting in Ireland.
I believe there are more instances of the abridgement of the freedom of the people by gradual and silent encroachments of those in power than by violent and sudden usurpations.