mid-15c., inhabilite, "disqualification for office," from in- (1) + ability. Earlier was unability "incapability; incompetence" (late 14c.). General sense by c. 1500.[inability etymology, inability origin, 英语词源]
1590s, from Middle French incapable and directly from Medieval Latin incapabilis, from in- "not" (see in- (1)) + capabilis (see capable). Related: Incapably; incapability.