The glory of God — and our joy in him — is the heart of mission.
John Piper writes,
The goal of missions is the gladness of the peoples in the greatness of God. "The LORD reigns, let the earth rejoice; let the many coastlands be glad!" (Psalm 97:1). "Let the peoples praise you, O God; let all the peoples praise you! Let the nations be glad and sing for joy! (Psalm 67:3-4). . . Missions begins and ends in worship.
(Let the Nations Be Glad, 3rd ed. [Grand Rapids: Baker, 2010], 36)
Lesslie Newbigin writes,
There has been a long tradition which sees the mission of the Church primarily as obedience to a command. It has been customary to speak of "the missionary mandate." This way of pu…