and on earth has been given to me.  Go, therefore, make disciples of all the nations; baptize them in the name of the Father and of the Son and of the Holy Spirit, and teach them to observe all the commands I gave you.  And know that I am with you always; yes, to the end of time.”  Matthew 28:18-20.

Under the guidance of Peter, the Apostles handed on the faith through the teaching office of the church (The Magisterium).  CCC 86 states, “Yet this Magisterium is not superior to the Word of God, but is its servant.  It teaches only what has been handed on to it.  At the divine command and with the help of the Holy Spirit, it listens to this devotedly, guards it with dedication, and expounds it faithfully.  Jesus said to His apostles, “Anyone who listens to you listens to me; anyone who rejects you rejects me, and those who reject me reject the one who sent me.”  Luke 10:16 

The Church’s Magisterium exercises the authority it holds from Christ to the fullest extent when it defines dogmas, that is, when it proposes truths contained in divine Revelation . . . CCC 88

Jesus said to his apostles, “As the Father sent me, so am I sending you.”  John 20:21.  In this same way, the Apostles handed on the mission given to them by carefully appointing successors to shepherd the Church.