Autoregressive neural machine translation (NMT) models are often used to teach non-autoregressive models via knowledge distillation. However, there are few studies on improving the quality of autoregressive translation (AT) using non-autoregressive translation (NAT). In this work, we propose a novel Encoder-NAD-AD framework for NMT, aiming at boosting AT with global information produced by NAT model. Specifically, under the semantic guidance of source-side context captured by the encoder, the non-autoregressive decoder (NAD) first learns to generate target-side hidden state sequence in parallel. Then the autoregressive decoder (AD) performs translation from left to right, conditioned on source-side and target-side hidden states. Since AD has global information generated by low-latency NAD, it is more likely to produce a better translation with less time delay. Experiments on WMT14 En-De, WMT16 En-Ro, and IWSLT14 De-En translation tasks demonstrate that our framework achieves significant improvements with only 8% speed degeneration over the autoregressive NMT.