goad (someone or something) on
1. To physically encourage someone or something to continue moving, as by physical prodding. I had to goad the dogs on when they tried to lie down at the end of our street.
2. To taunt, tease, or otherwise coerce someone into proceeding. My friends tried to goad me on, but I knew I'd had enough to drink for the night.
3. To coax or encourage someone into proceeding. The audience started clapping, in an attempt to goad the frightened kids on.