Encourage

From BiblePortal Wikipedia

King James Dictionary [1]

Encour'Age, enkur'rage. To give courage to to give or increase confidence of success to inspire with courage, spirit, or strength of mind to embolden to animate to incite to inspirit.

But charge Joshua, and encourage him.  Deuteronomy 3 .

Webster's Dictionary [2]

(v. t.) To give courage to; to inspire with courage, spirit, or hope; to raise, or to increase, the confidence of; to animate; enhearten; to incite; to help forward; - the opposite of discourage.

References