Dr. Youssef's sermon emphasizes the importance of making disciples for Jesus, focusing on the Great Commission in Matthew 28:19-20. He highlights that the command is to make disciples, not just believers, and stresses the significance of submitting to the authority of Jesus in the disciple-making process. The sermon traces historical examples of disciple-making movements and urges believers to fearlessly disciple others, emphasizing that obedience to the Great Commission is crucial for every disciple of Jesus. The goal is to impact the world for Jesus one soul at a time.