noun / verb
nudge
NUJ/nʌdʒ/
To push gently.
She nudges the man's upper arm with her elbow.

Etymology
Nudge originally meant a slight push with the elbow; such a covert touch could give a hint or signal, leading to subtle encouragement. Its origin is uncertain, perhaps Scandinavian, with parallels meaning 'jostle' or 'rub.'
In context
One of my biggest regrets was not asking for help sooner. And luckily I had some strong people in my life to kind of nudge me in the right direction.