Wiktionary
vb. (context transitive English) to encourage; motivate; to offer encouragement to.
WordNet
Usage examples of "urge on".
Which did a bit to explain this sudden urge on the part of everyone to see Jamie and myself established in Paris, which would otherwise have seemed an improbable coincidence.
It was simply a primal urge on both parts, fiercely intense now, and very likely to fade.
It too was tormented, continually it struck back, one day it would break free to urge on the wolves of the sky and the serpent of the sea.
Her hips waggled madly, which could have done nothing but urge on the gentleman’.
Denoriel dropped the saddle beside him and turned back to urge on Miralys, who he thought was lagging behind to guard their rear, but he saw with horror that the elvensteed's mouth gaped open, foam dripping from his lower jaw, while his ribs worked like bellows.