When Jesus was interrupted, He started where He was and helped those in need who were nearest to Him. There is always another mission “out there”—the next cause, the next city, or the next country that seems to be the most important mission we could pursue. Jesus illustrates that our greatest mission is often the person in front of us.
Then I read that Jesus was a friend of sinners. This still bothers me. Not because Jesus was a friend of sinners (because that came in really handy in my case). It bothered me because if I'm trying to live like Jesus, that means I'm supposed to be a friend of sinners too.
If I came to your town and asked any person on the street, “Which church should I go to if I want to get involved in helping the poor or homeless in this community?” would your church be the first one mentioned? Make this identity your goal.