To lay on or set as something to be borne, endured, obeyed, fulfilled, paid, etc.
To put or set by or as if by authority (Dictionary.com).
Etymology (EN): M.E., from O.Fr. imposer “put, place; impute, charge, accuse,” from → in- “into, in” + poser “put, place,” → position.
Etymology (PE): Barnehâdan, literally “to place on, upon,” from bar-, → on-,