Incite; spur on
I believe the answer is:
goad
I believe this is a double definition.
'incite' is the first definition.
(I know that goad is a type of incite)
'spur on' is the second definition.
(I've seen this in another clue)
(Other definitions for goad that I've seen before include "Incite to act against one's inclination" , "'Prod, urge (4)'" , "Incite to action" , "Spur, prod" , "Incentive" .)