urge someone along
to encourage someone to continue or go faster. We urged them along with much encouragement. They won't do well, but we urged them along anyway.
urge someone forward
to encourage someone to move forward. The generals urged the troops forward. Sally urged Timmy forward into the classroom.
urge someone to do something
to try to get someone to do something. I urge you to give skiing a try. Ken urged Lily to finish her dinner.
urge something (up)on someone
to try to get someone to take something. (Upon is formal and less commonly used than on.) Arnold urged the new policy on the employees. He urged restraint upon them.