We propose a model for how the buildup of dark halos by merging satellites produces a characteristic inner cusp, of a density profile ��\prop r^-a with a -> a_as > 1, as seen in cosmological N-body simulations of hierarchical clustering scenarios. Dekel, Devor & Hetzroni (2003) argue that a flat core of a<1 exerts tidal compression which prevents local deposit of satellite material; the satellite sinks intact into the halo center thus causing a rapid steepening to a>1. Using merger N-body simulations, we learn that this cusp is stable under a sequence of mergers, and derive a practical tidal mass-transfer recipe in regions where the local slope of the halo profile is a>1. According to this recipe, the ratio of mean densities of halo and initial satellite within the tidal radius equals a given function psi(a), which is significantly smaller than unity (compared to being 1 according to crude resonance criteria) and is a decreasing function of a. This decrease makes the tidal mass transfer relatively more efficient at larger a, which means steepening when a is small and flattening when a is large, thus causing converges to a stable solution. Given this mass-transfer recipe, linear perturbation analysis, supported by toy simulations, shows that a sequence of cosmological mergers with homologous satellites slowly leads to a fixed-point cusp with an asymptotic slope a_as>1. The slope depends only weakly on the fluctuation power spectrum, in agreement with cosmological simulations. During a long interim period the profile has an NFW-like shape, with a cusp of 1

37 pages, Latex, aastex.cls, revised, ApJ, 588, in press