I bet it's from maths. "For k in Z, ...". But in programming, imperative is more useful than declarative, so we turned this into "For k from 0 to ...", as it translates directly to telling the computer what to do - and this is the form most programmers ended up being exposed to.
For is also from Algol, replacing "do" from Fortran. I agree it would be interesting to know why the word was chosen, but I think it comes from the mathematical "for all x in Y, x > 5" or whatever other assertion is being made.