GOAD

urge on

A pointed instrument that is used to prod into a state of motion
SYN - prod

A verbalization that encourages you to attempt something
SYN - spur

give heart or courage to

urge with or as with a goad

provoke, as by constant criticism
SYN - needle

"He was constantly goading her to have sex with him and it was annoying."

"She needed to just goad the cat back into the house and she would feel happy again."

"As a parent she never wanted to tell her son exactly what to do, but simply goad him in the right direction and down the right paths."