To prick or pierce with a needle; to stab something/someone with a needle.
職人は布を針で刺して細かく縫い合わせた。
The craftsman pricked the cloth with a needle and sewed it together carefully.
注射をする前に看護師が腕を針で刺した。
The nurse pricked his arm with a needle before giving the injection.
指を誤って針で刺してしまった。
I accidentally pricked my finger with a needle.