to take possession of land or property, often by driving out whoever held it before
This is the verb of taking over. Most often it describes Israel taking possession of Canaan: moving into the land, settling it, and making it their own. The same word can name the act of seizing and the lasting state of holding, so it covers both "go in and take" and "now possess."
Because taking a land usually meant displacing its current people, the word also carries the sharper edge of dispossessing them. When the cause of the action is highlighted, it means to drive out the inhabitants so the land falls to someone else. This is the same act seen from the other side: one people moves in only as another is pushed out.
The word also reaches into family law, where an heir takes possession of an estate when the previous owner dies. Whether the object is a nation's territory or a single household's inheritance, the core idea is the same: coming into firm hold of what was held by another.