Discipleship happens in all different shapes and sizes. Yes, there are myriad programs out there that have laid out a step-by-step process for discipleship and many of them are quite effective, but there is no one "right" or even "best" way to disciple someone. It can be an intensive process that takes place for a specified period of time, or it can happen casually over a lifetime -- it can even take place unintentionally without either the discipler or the disciplee (is that a real word?) consciously aware that it is happening.
One of the best books I have read that acknowledges this fact is Connecting (NavPress, 1992) by Paul D. Stanley and J. Robert Clinton. In it they use the tern "discipling" very specifically and favor the term "mentoring" to describe the general process, but the concepts apply regardless of the semantics you choose to employ. They breakdown the process into three general categories -- intensive, occasional, and passive (Pg. 41) -- which are then further divided into different approaches, each with its own distinctive qualities.
There are a lot of tips and suggestions for both the mentor and the mentoree within each approach, but for me the principle value of the book is the vision it casts for discipleship not as a structured routine, but rather as a way of life. This is best summed up in the quote, "Anyone can mentor, provided he has learned something from God and is willing to share with others what he has learned." (Pp. 28-29) I believe this echoes the sentiment Paul expressed in 2 Tim. 2:2 and Titus 2:1-10. True discipleship is a multi-layered enterpise and each of us has a place.
Have you avoided discipling others because you have seen yourself as "unqualified"? Or, has discipleship for you degenerated into a familiar routine that no longer seems as exciting as it once was? This book can help.
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I'm not sure that I can agree that the "Scriptural use of the term indicates a conscious, voluntary process, especially in the case of the disciple". This is probably true for the most part in the gospels, but even there the term is applied to Judas, who wasn't even a believer. However, in Acts the term seems to encompass all believers without distinction. A good example of this is in Acts 19:1-7 where the term is applied to a group in Ephesus which not only were not aware of the Holy Spirit, but were still preaching John's baptism long after his death.
But in any case, I do not think that the words we use to describe the processes are nearly as important as the concepts themselves, so call it whatever you like. :-)
Perhaps your objection is to using the term "discipleship" to describe such a process. You can call it something else if you like, but as far as I am concerned it is a distinction without a difference. If you get a chance, read the book - it explains it a lot better than I have in such a small space.
While I can agree that discipleship can take a lot of different forms, I don't think I can agree with the quote you list saying that discipleship can happen "casually over a lifetime -- it can even take place unintentionally without either the discipler or the disciplee (is that a real word?) consciously aware that it is happening." By definition, at least the vast majority I have ever read, and as evidenced by Jesus and the writers of the New Testament, discipleship is an INTENTIONAL relationship between a disciple and a teacher/mentor. While such a relationship can be informal or casual, I don't think it happens without intent/purpose. Just me...