Take a joke without rancour, learning of its origins (7)
I believe the answer is:
purloin
'take' is the definition.
(thesaurus)
'a joke without rancour learning of its origins' is the wordplay.
'a joke' becomes 'pun' (pun is a type of joke).
'without' is an insertion indicator ('without' can be similar in meaning to 'outside').
'origins' says to take the initial letters.
The initial letters of 'rancour learning of its' is 'rloi'.
'pun' going around 'rloi' is 'PURLOIN'.
(Other definitions for purloin that I've seen before include "'Nick, pilfer (7)'" , "Make off with" , "Swipe" , "Steal" , "'Nick, filch (7)'" .)