1. To prompt, compel, encourage, or plead with one to take some action. I was hesitant to testify, but my wife urged me on. We stood at the end of the race to cheer and urge the athletes on for their final stretch. Every time we paused to rest, the officers urged us on.

2. To prompt, compel, or encourage one to take or use something. In this usage, a noun or pronoun is used between "urge" and "on." I wish they would quit urging these newfangled operating systems on us. I hated having to urge unnecessary plans and upgrades on customers when I worked in retail.