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From earlier ᄉᆞᆸᄂᆡ다(-seumnaeda) in the nineteenth century, contracted from ᄉᆞᆸᄂᆞ이다(-seumnaida), used since the seventeenth century. The uncontracted form is still found as 습나이다(-seumnaida), now archaic.
Ultimately formed by a merger of the Middle Korean verbal suffixes ᄉᆞᆸ〯 (Yale: -sǒp-, object honorific) + ᄂᆞ〮 (Yale: -nó-, present tense marker) + ᅌᅵ (Yale: -ngì-, addressee honorific for questions) + 다〮 (Yale: -tá, declarative mood marker).
The allomorph ㅂ니다(-mnida) after sonorants represents the fact that the Middle Korean object honorific ᄉᆞᆸ〯 (Yale: -sǒp-) had the allomorph ᅀᆞᆸ〯(-zǒp-) after sonorants, which became simply ㅂ(-b-) after Middle Korean /z/ was (almost) unconditionally deleted in the sixteenth century.