Natural affections and instincts, my dear sir, are the most beautiful of the Almighty’s works, but like other beautiful works of His, they must be reared and fostered, or it is as natural that they should be wholly obscured, and that new feelings should usurp their place, as it is that the sweetest productions of the earth, left untended, should be choked with weeds and briers.
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.