In Robinson Crusoe, who suggests Crusoe leave home and go on board the ship?

One of Crusoe's friends urged him to accompany them on their voyage.

But being one day at Hull, where I went casually, and without any purpose of making an elopement at that time; but, I say, being there, and one of my companions being about to sail to London in his father's ship, and prompting me to go with them with the common allurement of seafaring men, that it should cost me nothing for my passage, I consulted neither father nor mother any more, nor so much as sent them word of it; but leaving them to hear of it as they might, without asking God's blessing or my father's, without any consideration of circumstances or consequences, and in an ill hour, God knows, on the 1st of September 1651, I went on board a ship bound for London.