Origins
The English word "incense" entered the language in the 13th century from Old French "encens," which derived from Late Latin "incensum" — literally "that which is set on fire," the neuter past participle of "incendere" (to kindle, to set alight). Latin "incendere" combines "in-" (into) with "candēre" (to glow, to shine).
The PIE root *kand- (to shine, to glow) behind "candēre" is the source of a luminous word family. "Candle" comes from Latin "candēla" (a light). "Candid" originally meant white or glowing. "Candidate" derives from the white toga ("toga candida") worn by Romans seeking office. "Incandescent" describes something glowing with heat. "Chandelier" arrived through French from Latin "candēlārium."