What is the Mission of the Church?

The term “missional” has become very popular in evangelical circles in recent years and the subject of some debate. As a former military officer I understand the concept of mission, and Jesus Christ certainly entrusted the Church with a clear mission.  However, I do have a problem with the second and third order effects of the theology that has been associated with some elements of the so-called "missional movement" such as a loose commitment to the inerrancy of Scripture and a false dichotomy between narrative and truth. So just what is the mission of the Church? I like the definition given by Kevin DeYoung and Greg Gilbert in their book, “What Is the Mission of the Church?: Making Sense of Social Justice, Shalom, and the Great Commission":

The mission of the church is to go into the world and make disciples by declaring the gospel of Jesus Christ in the power of the Spirit and gathering these disciples into churches, that they might worship and obey Jesus Christ now and in eternity to the glory of God the Father.