Doctor urged on to get experience (7)
I believe the answer is:
undergo
'experience' is the definition.
(to undergo something is to experience it)
'doctor urged on' is the wordplay.
'doctor' is an anagram indicator.
'urged'+'on'='urgedon'
'urgedon' with letters rearranged gives 'UNDERGO'.
'to get' is the link.
(Other definitions for undergo that I've seen before include "Endure, experience something" , "Withstand" , "put up with" , "Experience - bear" , "having to travel by tube" .)