An Etymological Dictionary of Astronomy and Astrophysics

To get into one’s hold or possession by voluntary action; to hold, grasp, or grip (Dictionary.com).

Etymology (EN): M.E. taken “to take, strike, grasp,” O.E. tacan “to grasp, touch,” probably from Old Norse taka “to take, grasp;” cf. M.Du. taken “to grasp;,” Gothic tekan “to touch.”

Etymology (PE): Gereftan “to take, seize, hold;” Mid.Pers. griftan, gir- “to take, hold, restrain;” O.Pers./Av. grab- “to take, seize;”
cf. Skt. grah-, grabh- “to seize, take,” graha- “seizing, holding, perceiving;” M.L.G. grabben “to grab;” E. grab “to take or grasp suddenly;” PIE *ghrebh- “to seize;” see also → assumption, → concept.