Daughter with a friend regularly took on challenge (5)

I believe the answer is:
dared
'took on challenge' is the definition.
The definition and answer can be both to do with communicating as well as being past participle verbs.
Maybe you can see an association between them that I don't see?
'daughter with a friend regularly' is the wordplay.
'daughter' becomes 'd' (genealogical abbreviation).
'with' says to put letters next to each other.
'regularly' means one should take alternating letters (regularly take one letter, leave next etc.).
The alternate letters of 'friend' are 'red'.
'd'+'a'+'red'='DARED'
Can you help me to learn more?
(Other definitions for dared that I've seen before include "Had the courage (to do something)" , "Challenged (to a deed)" , "Had the nerve to" , "Made bold" , "was bold enough" .)
