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1956, from comic strip "Out Our Way" by U.S. cartoonist J.R. Williams (1888-1957). According to those familiar with the strip, Worry Wart was the name of a character who caused others to worry, which is the inverse of the current colloquial meaning.
To enter or penetrate stealthily, like a worm or snake: has used his sophisticated skill to worm his way into many of the nation's telephone networks (1845+)