I believe you just need to follow these steps:
1.Open Time Machine preferences.
2.Click Select Disk or Add or Remove Backup Disk (if you have multiple backup disks).
3.Select your backup disk, then click Remove Disk.
4.Now set up the disk again as an encrypted backup disk. For instructions, see: Choose a backup disk and set encryption options.
A more detailed description of the process can be found here;
https://support.apple.com/kb/PH14110?locale=en_US
However why would you want to encrypt your backup? Is your Hard Drive encrypted as well? I ask this because if you are in a state of duress (which most of us are when our HD crashes) the last thing you need is difficulty unlocking your backup. eg
"To encrypt the Time Machine backup, you must provide a backup password. No one but you should have access to your password. Choose a hint that helps you remember your password. To restore files from encrypted Time Machine backups, you must provide your backup password".
https://support.apple.com/kb/PH18858?locale=en_US
Now where did I write that password? Hopefully not just in your computer keychain.