I believe we urge to feel connected to Life. We feel that connection when we belong, when we connect to others, either humans, animals or nature. When we feel that what we give is beneficial, accepted, when we interact, play. We also feel that connection when we experience flow in any activity.
The opposites are stagnation, the absence of flow, or isolation, the absence of connection, even rejection. The Life within us urges to connect to the Life without us.