beckon to (one)
To wave or signal to one with a gesture that indicates they should come closer. I think it's safe to go over there now—the guard just beckoned to us.
Farlex Dictionary of Idioms. © 2015 Farlex, Inc, all rights reserved.
beckon to someone
to signal someone to come. Wally beckoned to Sally, and she came over to him. Lily beckoned to Max and he turned his back on her.
McGraw-Hill Dictionary of American Idioms and Phrasal Verbs. © 2002 by The McGraw-Hill Companies, Inc.