embark on/upon sth
— phrasal verb with embark uk /ɪmˈbɑːk/ us /ɪmˈbɑːrk/ verb [ I ] formal
(Definition of “embark on/upon sth” from the Cambridge Advanced Learner’s Dictionary & Thesaurus © Cambridge University Press)
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someone who stands on the street and asks people who are walking past to give money regularly to a charity