to hold on tenaciously: to keep oneself strongly and steadily fixed on someone or something over time, without letting go
This verb pictures strength aimed at something and held there. In everyday Greek it described a soldier who would not leave his post, a servant always at the master's side, a clerk who stuck to his office, a farmer who kept working his land. The idea is not simply doing a thing often, but staying strongly and deliberately with it.
The New Testament writers, especially Luke and Paul, took this ordinary word and used it for the way the first Christians gave themselves to prayer, to the apostles' teaching, to their shared life, and to the ministry of the word. Six of its ten appearances are about prayer, which made it something close to a signature word for a praying, persevering church.
What it points to shifts with what follows it. Aimed at an activity or task, it means devoting oneself to that thing, whether prayer, teaching, or (in one striking case) the work of governing. Aimed at a person, it means attaching oneself to them or waiting on them as an attendant. Aimed at a place, it means being there constantly. Said of a thing, such as the boat in Mark, it means being kept ready and on hand. Underneath all of these lies one picture: staying strongly fixed on something and not letting go.