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goad someone on
to urge someone onward, possibly with jeers or challenges; to urge someone to continue. (Usually in this order.) The cheering crowd goaded the team on to victory. I goaded Jed on to taking the risk.
1. To make someone or something move by prodding or poking: The farmer goaded the cattle on.
2. To urge someone to continue something through prodding or threat of embarrassment: I didn't want to sing any more, but the crowd goaded me on.