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to poke (repeatedly, lightly); to nudge
to peck at (one's food); to pick at
to peck at (someone's faults, etc.)
to egg on; to put up to
鳥が地面を突付いて虫を探していた。
A bird was poking at the ground looking for insects.
箸で料理を突付いてばかりいないで食べて。
Stop just poking at your food and eat it.
友達に肩を突付かれて目が覚めた。
My friend nudged my shoulder and I woke up.