Meaning : Seize and take control without authority and possibly with force. Take as one's right or possession.
Example :
He assumed to himself the right to fill all positions in the town.
He usurped my rights.
She seized control of the throne after her husband died.
Meaning : Take the place of.
Example :
Gloom had usurped mirth at the party after the news of the terrorist act broke.
Usurp meaning in Telugu.