The primary mission of the disciples in Matthew 10 was to proclaim the arrival of the Kingdom of Heaven to those who were actively looking for it. They did this by demonstrating the fulfillment of promises made concerning the Kingdom: healing, resurrection, cleansing, and liberating.

The disciples had received healing and liberation from Yeshua. When he told them to give these things to others as they had received them (Matthew 10:8), he implied that they should be making disciples of their own as Yeshua had made them to be his. Eventually, this would extend to evangelizing the nations, but that would have to wait until after Yeshua's personal mission on earth was complete.