"Allegare" itself derives from the Latin word "ligare", meaning "to bind".
So, the chain of etymology goes:
* ligare (Latin) - to bind
* allegare (Latin) - to attach, to bind, to assign
* allege (English) - to assert without proof
Therefore, the original meaning of "allege" is related to the idea of attaching or associating something to another thing, which evolved to mean "to claim or assert something without proof."