[Middle English, from Old French, from feminine past participle of emprendre, to undertake, from Vulgar Latin* imprēndere, Latin in-, in; see en–1, + Latin prehendere, prēndere, to take, grasp.]
noun
A chivalrous or adventurous undertaking.
Chivalrous daring or prowess.
The American Heritage® Dictionary of the English Language, Fourth Edition