'undisciplined' originates from the prefix 'un-' meaning 'not' and the word 'disciplined', which comes from Latin 'disciplina', meaning 'instruction' or 'training'.

'disciplina' transformed into the Old French word 'descepline', and eventually became the modern English word 'discipline'. The prefix 'un-' was added to form 'undisciplined'.

Initially, it meant 'not trained or instructed', but over time it evolved into its current meaning of 'lacking in discipline or self-control'.