Hi Sss,
"to harp on" (phrasal verb) means to talk a lot about one particular thing, to the point that it becomes very annoying. It is an intransitive phrasal verb which means it is an action by itself. You could use it like this:
"I hate it when my mum harps on about the laundry"
"She was sitting there, harping on as usual"
"Toby harped on about the rising taxes yesterday"
I hope this helps!
Take care,
Triss