early 14c., chaufen, c.1300, "be provoked;" late 14c. in literal sense "to make warm, to heat," also intransitive, "to grow warm or hot," especially (early 15c.) "to warm by rubbing," from Old French chaufer "heat, warm up, become warm" (12c., Modern French chauffer), from Vulgar Latin *calefare, from Latin calefacere "to make hot, make warm," from calere "be warm" (see calorie) + facere "to make, do" (see factitious).
Figurative sense from late 14c. include now-obsolete "kindle (joy), inspire, make passionate" as well as "provoke, vex, anger." Sense of "make sore by rubbing" first recorded 1520s. Related: Chafed; chafing.