Eckhard J. Schnabel, Early Christian Mission, Volume 2: Paul and the Early Church (IVP, 2004), 1574-1575:
I submit that the use of the term ‘incarnational’ is not very helpful to describe the task of authentic Christian missionary work.
The event of the coming of Jesus into the world is unique, unrepeatable and incomparable, making it preferable to use other terminology to express the attitudes and behavior that Paul describes in 1 Cor 9:19-23.
The Johannine missionary commission in Jn 20:21 does not demand an ‘incarnation’ of Jesus’ disciples but rather their obedience, unconditional commitment and robust activity in the service of God and in the power of the Holy Spirit.
It is precisely John who describes the mission of Jesus as unique: Jesus is the ‘only’ Son (Jn 1:14, 18; 3:14, 18), he is preexistent (Jn 1:1, 14), his relationship to the Father is unparalleled (Jn 1:14, 18). For John, it is not the manner of Jesus’ coming into the world, the Word becoming flesh, the incarnation, that is a ‘model’ for believers; rather, it is the nature of Jesus’ relationship to the Father who sent him into the world, which is one of obedience to and dependence upon the Father. . . .
The terms ‘contextualization’ or ‘inculturation’ certainly are more helpful.
HT: Tony Reinke