emprise
An enterprise or endeavor, especially a quest or adventure.
archaic
[N]oble minds of yore allyed were, / In braue poursuit of cheualrous emprize, / That none did others safety despize […]
The qualities which prompt one to undertake difficult and dangerous exploits; chivalric prowess.
archaic
I love thy courage yet, and bold emprise; / But here thy sword can do thee little stead.
Where it comes from
Noun is from Middle English emprise, from Old French emprise, emprinse, from Late Latin *imprensa, from Latin in- + prehendere (“to take”). The verb is from emprisen, from the same source.
Adapted from the Wiktionary entry emprise (CC BY-SA 4.0).