Urged on dancing bear (7)
I believe the answer is:
undergo
'bear' is the definition.
(undergoing is a kind of bearing)
'urged on dancing' is the wordplay.
'dancing' indicates anagramming the letters.
'urged'+'on'='urgedon'
'urgedon' with letters rearranged gives 'UNDERGO'.
(Other definitions for undergo that I've seen before include "Endure - urged on (anag)" , "experience needed" , "Stand" , "Experience - bear" , "Endure or be subjected to" .)