"Worship, therefore, is the fuel and goal of missions.  It’s the goal of missions because in missions we simply aim to bring the nations into the white hot enjoyment of God’s glory.  The goal of missions is the gladness of the peoples in the greatness of God."

                            -John Piper

Shout for joy to God, all the earth!

²     Sing the glory of his name;
    make his praise glorious.
³ Say to God, “How awesome are your deeds!
    So great is your power
    that your enemies cringe before you.
⁴ All the earth bows down to you;
    they sing praise to you,
    they sing the praises of your name.”^[a]

⁵ Come and see what God has done,
    his awesome deeds for mankind!
⁶ He turned the sea into dry land,
    they passed through the waters on foot—
    come, let us rejoice in him.
⁷ He rules forever by his power,
    his eyes watch the nations—
    let not the rebellious rise up against him.

⁸ Praise our God, all peoples,
    let the sound of his praise be heard;
⁹ he has preserved our lives
    and kept our feet from slipping.

Psalm 66:1-9 

This passage is a beautiful picture of the connecting pieces between worship and missions. Our inner beings cries out in worship, the whole earth bows at his feet- because he is good and he is ALL that is good. This is the fuel that drives us to participate in the mission of God.