ohrabriti

1. to encourage; to cheer up
   Njene reči su me mnogo ohrabrile. — Her words really encouraged me.
   Rezultati ankete su ohrabrili stranku. — The poll results encouraged the party.
2. (someone + da) to encourage someone to do something
   Profesor me je ohrabrio da upišem master. — My professor encouraged me to enrol in a master's.
3. (ohrabriti se) to take courage; to pluck up courage
   Na kraju se ohrabrio i pozvao je na kafu. — In the end he plucked up the courage and asked her out for coffee.

The imperfective is ohrabrivati; "encourage to do" is ohrabriti koga da + present tense.