Middle English, from Old French juste, from juster, to joust, from Vulgar Latin *iûxtâre, to be next to, from Latin iûxtâ, close by; see yeug- in Indo-European roots.
When two or more men run at each other, fully erect, trying to knock the other(s) over.
Sir Broderick: Stand down, Sir Ian! The crown is surely mine.
Sir Ian: And what are you proposing?
Sir Broderick: A Dick Joust, the greater man will be left standing.