Encourage; desire (4)
I believe the answer is:
urge
I believe this clue is a double definition.
'encourage' is the first definition.
(I know that encourage is a is a more specific form of the action of urge)
'desire' is the second definition.
(I know that urge is a type of desire)
(Other definitions for urge that I've seen before include "Strong, restless desire" , "Encourage, press" , "Plead" , "Press to do something" , "Try hard to persuade, advise earnestly" .)