  The integration of intrinsically magnetic and topologically nontrivial
two-dimensional materials holds tantalizing prospects for the exotic quantum
anomalous Hall insulators and magnetic second-order topological insulators
(SOTIs). Compared with the well-studied nonmagnetic counterparts, the pursuit
of intrinsic magnetic SOTIs remains limited. In this work, we address this gap
by focusing on $p-d$ orbitals inversion, a fundamental but often overlooked
phenomena in the construction of topological materials. We begin by developing
a theoretical framework to elucidate $p-d$ orbitals inversion through a
combined density-functional theory calculation and Wannier downfolding.
Subsequently we showcase the generality of this concept in realizing
ferromagnetism SOTIs by identifying two real materials with distinct lattices:
1$T$-VS$_2$ in a hexagonal lattice, and CrAs monolayer in a square lattice. We
further compare it with other mechanisms requiring spin-orbit coupling and
explore the similarities to topological Kondo insulators. Our findings
establish a generic pathway towards intrinsic magnetic SOTIs.
