persuade or encourage
exhort - urge
To ‘exhort’ is to strongly urge somebody to do something through argument, advice, or even gesticulations. This formal word generally implies an appeal made with passion and vigour that is meant to cheer on or inspire the person(s) it is directed at. Most commonly seen in written English.
As the deadline neared, workers grew more tired, so I did my best to exhort them to keep going and get the task finished.
The exhortations of the crowd played a key role in the victory. It really drove the home team forward.
The media have spent months exhorting the government to take more action to address the crisis, but they have so far refused to be coerced.