Chivvy

Chivvy: Chivvy is a synonym for tease assuming both senses of tease: to taunt and annoy (Stop chivvying your sister!) or to maneuver by small (difficult) steps (Can you chivvy any meaning from that pedantic diatribe?).

She stepped close up behind Esganikan to chivvy her along.

A Book for Today: Judge by Karen Traviss