Mission requires that we engage with people in an appropriate and equal way. We need to value those whom we are encountering. Martyn Atkins warns against what he calls a "sloping" approach to mission (Martyn Atkins: Resourcing Renewal, quoted in Michael Moynagh: Being Church, Doing Life).
On this approach we see mission as sloping downwards from the church towards other people. The church sees itself as in an elevated position, dispensing mission.
Jesus rather took a level approach. He met people where they were, engaging with their needs. There is no hierarchy in doing mission. It is likely to be effective when we are able to engage as equals. What we share with those we are encountering is the most likely source of an effective relationship and that is what is going to allow us to share our faith in a meaningful way. Back in the 17th century one of the groups of Christians were called the Levellers. Let's level things for and with God!