Bar is from the Ancient Greek word βάρος (baros), meaning weight (of the atmosphere in this case).
1 bar ≡ 100,000 N/m² = atmospheric pressure on Earth (at an altitude of 111 metres at 15 °C). Introduced by the Norwegian meteorologist professor Vilhelm Bjerknes, based on the word barometer, which dates back well over a hundred years further.
A millibar is 1/1000th of a bar, nothing to do with mm.