In his new book, The Mission of God's People, Christopher Wright has a chapter on worship and its relation to mission. He echoes Piper, stating that "the goal of all our mission is the worship and glory of the one true living God." He then defines both God's mission and our own:

However, there is a secondary sense in which worship is "missional." First, our redemptive acts and service in the world bring praise and glory to God. Second, the worship of God's people in the assembly testifies to God's redemption and provides an evangelistic witness to the world. This is why both historical (Passover, cross, etc.) and modern day acts of redemption (baptisms, service in the community, etc.) ought to be emphasized in worship. This is "missional worship." And, reminded and inspired by these redemptive acts, the church goes from this celebration and proclamation strengthened in their commitment to the mission. Remember, the Great Commission was given when the disciples were worshipping Jesus (Mt. 28:18-20).