to wake someone up, or to get up oneself, from sleep
At its plainest, this word is about coming out of sleep. It works both ways: you can wake another person, or you can wake up and get going yourself. The same word does both because the action is one motion seen from two sides, rousing and rising.
The Gospel writers use it for ordinary mornings and for moments of crisis. The disciples wake Jesus in the storm; an angel tells Joseph to get up in the night and flee. The line between literally waking and simply getting moving is thin here, which is why this everyday sense sits next to the call to stir into action.