To taunt is to tease, mock, make-fun of, or insult a person or a group of people. Most famously used in the 1975 movie Monty Python and the Holy Grail, when a French Guard teases King Arthur and his knights after King Arthur asks for the French Guard to get his master, Guy de Loimbard, so he can assist King Arthur in finding the Holy Grail.
French Guard: "I don't wanna talk to you no more, you empty headed animal food trough wiper! I fart in your general direction! Your mother was a hamster and your father smelt of elderberries!"
Sir Galahad: "Is there someone else up there we can talk to?"
French Guard: "No, now go away or I shall taunt you a second time-a!"