Compel

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late Middle English: from Latin compellere, from com- ‘together’ + pellere ‘drive’.

wiktionary

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From Middle English compellen, borrowed from Middle French compellir, from Latin compellere, itself from com-(“together”) + pellere(“to drive”). Displaced native Middle English fordriven ("to drive out, to lead to, to compel, to force"), from Old English fordrīfan. More at fordrive.

etymonline

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compel (v.)

"to drive or urge irresistibly by physical or moral force," mid-14c., from Old French compellir and directly from Latin compellere "to drive together, drive to one place" (of cattle), "to force or compel" (of persons), from com "with, together" (see com-) + pellere "to drive" (from PIE root *pel- (5) "to thrust, strike, drive"). Related: Compelled; compelling.