goad
GOHDverbMeaning to push or provoke someone into doing something
Memory hook GOAD: “GO! GO! GO!” until you do it. Rosa’s friends chant “Go! Go! Go!” until she finally steps up to the microphone to sing. They goad her into it.
His teammates goaded Kai into singing at the talent show.
In context Dev didn’t want to race, but his cousins goaded him with teasing until he finally lined up at the start, just to prove them wrong.
Similar prod, spur, push, needle
Opposite discourage, deter, dissuade
From Old English gad, a pointed stick for driving cattle forward.