Caesar was the general of a Roman Army unit in Gaul (the border of Spain and what Rome considered it’s home territory. Roman Generals were also territorial governors similar to how feudalism worked in the middle ages. By law they could only command their army within the territory appointed by them. Inside Italy itself, only praetors and consuls had the right to command. In order to help prevent civil war any general that entered Italy leading his troops would forfeit his legal right to command and any of his orders considered illegal.
Over the previous decade, Cesar had built up a fortune and a powerful army in conquering Gaul. While away, Cesar made known his wish to renew his consulship in absentia. This would be like a general also being a congressman in the US. Other consuls feared the kind of money and power he could bring, especially since he was the successful leader of a military conquest. So there were several attempts to strip him of his title and deny him the right to renew his consulship. In the end if he made no action his political career would be over. Someone else would be appointed to govern Gaul and he would become a landowner in a far flung Roman conquest.
So by crossing the border into Italy, the Rubicon, at the head of an army Julius Caesar intentionally broke Roman law and made himself and anyone who followed him a traitor.
Thus the term became an expression of taking an action which you cannot undo.
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