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Talk to them and say you want to join their cause, it makes you the marshal of that empire with the usurper as king/ queen. You can request towns and castle you take over and they will usually give them to you as soon as you ask due to them not having any other lords and you being the marshal.
You will need to have a good army able to take towns and castle, not to mention beat all the armies of that faction. You can turn some of the lord if you have high persuation and good rep with them already mind.
yup
And if you do not fully eradicate and take over the target faction, you can still battle and fight other factions and take their fiefs also, all in the name of the usurper's kingdom. This makes the king stay in your party indefinitely when you don't eradicate the target faction.