Egg Someone On

Meaning:
To urge someone to do something that is usually negative.

Example:
His friends kept egging him on, but Daniel refused to steal the watch.

Did you know?
‘Egg’ is actually a variant of ‘edge’, to edge someone forward. Both words are derived from the Old English term ‘eddja’.

Reference: http://www.phrases.org.uk/meanings/egg-on.html