Disciples are those who receive Christ's identity and record as a gift by faith, who walk by the Holy Spirit's power in that identity, and who endure to the end through every temptation, trial, or false teaching.
Since Christ is the Son of God, we are then adopted into the family of God. Discipleship brings people into the family of God (the church), and the family of God builds up the faith of disciples by speaking of Christ in loving relationships. Since God created the family to be a living parable of the Gospel (which sees us received into the family of God as Jesus deserves), the family is both the primary place of discipleship and the model for discipleship within the church.
To honor the Great Commission and make the kind of disciples that trust in Christ for His identity, walk by the Spirit's power in Christ's identity, and endure to the end - parents must take the major role in pastoring their kids, and local churches need to embrace disciples as brothers and sisters, and disciples must embrace local churches as family.
Here is the link referenced in the sermon for resources for how to direct someone's attention to Christ using every part of the Bible, as well as the basics of the Gospel each week.