The difference between good leadership and poor management is the difference between positive motivation and negative manipulation. Motivation is getting people to do something because they want to do it while negative manipulation is getting them to do something because you want them to do it.

Successful leaders know that in order to motivate a person it is important to find out what motivates that individual.
It is essential to have empathy with people in order to understand what motivates them.
For some it is money, for others promotion, job satisfaction, recognition, fame etc.
What sort of lifestyle does the individual want?
What does he or she really enjoy doing? What are his or her hobbies, pastimes, etc?

Having found out the answers, you need to show the individual how to get what he or she really wants.

The most important aspect of effective communication is the ability to stimulate enthusiasm in others.
Motivate from your own enthusiasm, the way you speak, the tone of your voice and your body language.
Genuine enthusiasm is irresistible and very persuasive.
We are all drawn to people who demonstrate passion and enthusiasm.
Enthusiasm is like a magnet.