Matthew 28:16-20: "16 Now the eleven disciples went to Galilee, to the mountain to which Jesus had directed them. 17 And when they saw him they worshipped him, but some doubted. 18 And Jesus came and said to them, 'All authority in heaven and on earth has been given to me, 19 Go therefore and make disciples of all nations, baptizing them in the name of the Father and of the Son and of the Holy Spirit, 20 teaching them to observe all that I have commanded you. And behold, I am with you always, to the end of the age.'"
Isaiah 49:6: "he says: 'It is too light a thing that you should be my servant to raise up the tribes of Jacob and to bring back the preserved of Israel; I will make you as a light for the nations, that my salvation may reach to the end of the earth.'"
2 Corinthians 12:9-10: "9 But he said to me, 'My grace is sufficient for you, for my power is made perfect in weakness.' Therefore I will boast all the more gladly of my weaknesses, so that the power of Christ may rest upon me. 10 For the sake of Christ, then, I am content with weaknesses, insults, hardships, persecutions, and calamities. For when I am weak, then I am strong."
2 Corinthians 4:10-11: "10 always carrying in the body the death of Jesus, so that the life of Jesus may also be manifested in our bodies. 11 For we who live are always being given over to death for Jesus' sake, so that the life of Jesus also may be manifested in our mortal flesh."
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The passage from Matthew 28 is paraphrased in the first verse, and the rest of the hymn expands upon it.
Isaiah 49:6 seems to be alluded to at the end of the second verse: "This Lord, our living brother... Has chosen us to carry / His truth to ev'ry land." This also echoes Matthew 28:19.
The passage from 2 Corinthians 12 appears at the beginning of the third verse: "His strength within my weakness / Will make me bold...."
The passage from 2 Corinthians 4 seems to be referred to at the end of the fourth verse: "Let them through me see Jesus, / Who served and saved us all."