Simulations predict that the dark matter halos of galaxies should have central cusps, while those inferred from observed galaxies do not have cusps. We demonstrate, using both linear perturbation theory and n-body simulations, that a disk bar, which should be ubiquitous in forming galaxies, can produce cores in cuspy cold dark matter profiles within five bar orbital times. Simulations of forming galaxies suggest that one of Milky Way size could have a 10 kpc primordial bar; this bar will remove the cusp out to ~2.5 kpc in ~1.5 Gyr, while the disk would lose only ~8% of its original angular momentum. Larger bars would remove the cusp out to correspondingly larger radii. An inner Lindblad-like resonance couples the rotating bar to orbits at a...