Arrive

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Middle English (in the sense ‘reach the shore after a voyage’): from Old French ariver, based on Latin ad- ‘to’ + ripa ‘shore’.

wiktionary

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From Middle English arriven, ariven, a borrowing from Old French ariver, from Late Latin *arrīpare, from Latin ad + rīpa(“shore”). Displaced native oncome, tocome.

For the sense-derivation, compare Old English ġelandian, ġelendan, lendan(“to arrive at land; land”) > Middle English alenden, landen(“to arrive; arrive at shore; land”).

etymonline

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arrive (v.)

c. 1200, "reach land, reach the end of a journey by sea," from Anglo-French ariver, Old French ariver "to come to land" (11c.), from Vulgar Latin *arripare "to touch the shore," from Latin ad ripam "to the shore," from ad "to" (see ad-) + ripa "shore" (see riparian). The original notion is of coming ashore after a long voyage. Of journeys other than by sea, from late 14c. Sense of "to come to a position or state of mind" is from late 14c. Related: Arrived; arriving.