to nag, to be on someone's case
Minha mãe não para de pegar no meu pé para eu arrumar o quarto.
My mom won't stop nagging me to clean my room.
The image is of grabbing someone’s foot: a person held by the foot cannot get free or move forward. So pegar no pé means persistently picking on someone, giving them no peace, nagging or teasing them.
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