To thrust against or into
An act of thrusting into or against, as to attract attention
She stood and gave the chair a nudge with her foot.
Nudge him with your heals to get him started and pull gently on the reins when you want him to stop.
He urged Ed ahead with a gentle nudge of the knees, and followed the peccary.
Sometimes, it can take a nudge on your part to get to this stage, but once the lines of communication are open, he'll be in touch.
If you choose inspiring books for your child to read, you may have to nudge, but eventually they will take off on their own.