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In Matthew, He instructs us to, "Go.ye.therefore into all nations, baptizing them in the name of the Father, teaching them to observe all things I have taught you." This is the foundation of missions. But we are also taught to, "Bring all the tithes and offerings into the storehouse." Tithes are what we traditionally use to operate the church, and offerings are for those things above the 1/10th that God commanded us to give back to him, so this is where things like national and international missions come from. So yes, you could say that the Bible asks us to give offerings to missions.
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