from Wiktionary, Creative Commons Attribution/Share-Alike License
- v. to walk with a limp, to drag a limb, to walk lamely; to move with a gait somewhere between walking and crawling.
from The Century Dictionary and Cyclopedia
- To halt; walk as if lame.
A word of unknown origin, first recorded in Scots sources from the late fifteenth century; but probably from Old Norse herpast ("to suffer from cramp") the middle voice verb. Compare the Icelandic herpa ("to contract, to draw together"). (Wiktionary)