Kneel has 3 different meanings across 2 categories:
Noun · Verb
supporting yourself on your knees
rest one's weight on one's knees
"In church you have to kneel during parts of the service"
To rest on one's bent knees, sometimes only one; to move to such a position.
The word kneel comes from Old English cnēowlian, which combined "knee" with a suffix meaning to do something. Originally, it meant to bend one's knee to the ground.