late 12c., "stake or rod of iron used to fasten a door or gate," from Old French barre "beam, bar, gate, barrier" (12c.), from Vulgar Latin *barra "bar, barrier," which some suggest is from Gaulish *barros "the bushy end" [Gamillscheg, etc.], but OED regards this as "discredited" because it "in no way suits the sense." Welsh bar "a bar, rail," Irish barra "a bar, spike" are said to be from English; German Barre, Danish barre, Russian barŭ are from Medieval Latin or Romanic.
The general sense of "anything which obstructs, hinders, or impedes" is from 1530s. Of soap, by 1833; of candy, by 1906 (the process itself dates to the 1840s), both from resemblance of shape. The meaning "bank of sand across a harbor or river mouth" is from 1580s, probably so called because it was an obstruction to navigation.
Bar graph is attested from 1925. Bar code first recorded 1963. Behind bars "in prison" is attested by 1934, American English.