In the Great Commission, Jesus Instructed his disciples to make disciples of all nations, teaching them everything that he taught, which includes the Great Commission, which is the essence of rabbi/disciple relationship, so it is self-perpetuating.
In Matthew 4:15-23, Jesus began his ministry with the Gospel message to repent for the Kingdom of God is at hand, which was a light to the nations, and God's law is how his audience knew what sin is (Romans 3:20), so repenting from our disobedience to it is a central part of the Gospel of the Kingdom, which he prophesied would be proclaimed to all nations (Matthew 24:12-14), and which he commissioned his disciples with. Furthermore, spreading the Gospel of the Kingdom is in accordance with Jesus being sent in fulfillment of the promise to bless us by turning us from our wickedness (Acts 3:25-26), which is the Gospel that was made known in advance to Abraham in accordance with the promise (Galatians 3:8), which he spread to Gentiles in Haran in accordance with the promise (Genesis 12:1-5).
In Genesis 18:19, Genesis 26:4-5, and Deuteronomy 30:16, the promise was made to Abraham and brought about because he walked in God's way in obedience to His law, he taught his children and those of his household to do that, and because they did that. In Psalms 119:1-3, God's law is how the children of Abraham knew how to be blessed by walking in God's way, and in John 8:39, Jesus said that if they were children of Abraham, then they would be doing the same works as him, so the way that the children of Abraham are multiplied and are a blessing to the nations in accordance with inheriting the promise through faith is by turning the nations from their wickedness and teaching them to do the same works as Abraham by walking in God's way in obedience to His law, which is spreading the Gospel that was made known in advance to Abraham.
In Galatians 3:26-29, it connects those who are children of God through faith in Christ with those who are children of Abraham and heirs to the promise, which again refers to those those who are spreading the Gospel of Kingdom that Jesus taught. In 1 John 3:4-10, those who do not practice righteousness in obedience to God's law are not children of God, in 1 John 2:6, those who are in Christ are obligated to walk in the same way he walked, and in Matthew 23:23, Christ said that faith is one of the weightier matters of the law. So the Great Commission and the Sermon on the Mount were addressed to all those who are children of God in Christ through faith and children of Abraham and heirs to the promise. Apostolic succession should be rejected to the extent that it departs from spreading the Gospel of the Kingdom.