Perhaps you remember that when I was a child my usurping uncle Miraz got rid of seven friends of my father’s (who might have taken my part) by sending them off to explore the unknown , Eastern Seas beyond the Lone Islands.
There are no more uses of "usurp" in the book.
Show samples from other sources
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.