Which word best describes the act of prodding or urging someone?

The term "goad" specifically encapsulates the idea of prodding or urging someone to act, often with an implication of persistence or insistence. Unlike "guide," which suggests providing direction or advice without pressure, "goad" conveys a more forceful form of motivation. Similarly, while "encourage" implies support and motivation in a positive sense, it lacks the connotation of pushing someone toward a certain behavior in the way that "goad" does. "Support" refers to providing help or assistance but does not inherently include the notion of urging or provoking action. Therefore, "goad" is the most fitting choice as it directly relates to the act of prompting or pushing someone toward a specific action or decision.