to lead, guide
羐 centers on guiding or leading someone forward, whether physically or by persuasion.
The exact historical development of 羐 is uncertain. The modern form visually contains 艹, 土, and 久, but these may not reflect the original components.
Picture a plant (艹) growing out of the earth (土) and lasting a long time (久), as if it is leading the way upward.
For ユウ, imagine a guide saying 'you' to point the way: you -> ユウ, and the guide leads you forward.