Urged on to change experience (7)
I believe the answer is:
undergo
'experience' is the definition.
(I know that experience is a more specific form of the action undergo)
'urged on to change' is the wordplay.
'to change' is an anagram indicator.
'urged'+'on'='urgedon'
'urgedon' anagrammed gives 'UNDERGO'.
(Other definitions for undergo that I've seen before include "put up with" , "Endure or be subjected to" , "Endure for guerdon" , "experience needed" , "Suffer reverse" .)