This essay builds on the conference on “Mission in the 21th century: New models and strategies in a world of diversity” held in Livingstone, Zambia from 25 March to 1 April 2004. It offers some background to the tension between mission as “evangelism” and as “development” which was addressed at this conference. It then describes some of the insights emerging from this conference, with specific reference to the description of mission as “crying and struggling with others to live today with dignity.” It provides some perspectives on this description on the basis of an exegesis of the second half of the Lord's prayer. The conclusion to the essay suggests that further reflection is required on the relationship between soteriology and missiology.