Drive leaves member in poor lie (5)
'drive' is the definition.
'member in poor lie' is the wordplay.
'member' becomes 'mp'.
'in' means one lot of letters goes inside another.
'poor' indicates anagramming the letters.
'lie' with letters rearranged gives 'iel'.
'mp' going into 'iel' is 'IMPEL'.
'leaves' acts as a link.
(Other definitions for impel that I've seen before include "Cause to move forward", "Motivate", "Urge or propel", "Hold together", "Urge forward, drive".)