1550s, from Latin urgere "to press hard, push, drive, compel," from PIE root *werg- "to work" (cf. Avestan vareza "work, activity;" Greek ergon "work," orgia "religious performances," organon "tool;" Armenian gorc "work;" Lithuanian verziu "tie, fasten, squeeze," vargas "need, distress;" Old Church Slavonic vragu "enemy;" Gothic waurkjan, Old English wyrcan "work;" Gothic wrikan "persecute," Old English wrecan "drive, hunt, pursue;" Old Norse yrka "work, take effect"). Related: Urged; urging.
1610s, from urge (v.); in frequent use after c.1910.