The clearest call to do so is called the Great Commission. This occurs in the Gospel according to Matthew when Jesus comes to the disciples after the resurrection. He tells them: "Go ye therefore, and teach all nations, baptizing them in the name of the Father, and of the Son, and of the Holy Ghost."
KJV 28:19
I personally find enough opportunuties to talk about my faith with people of different backgrounds who are willing to listen(and share their faith with me, as well...) that i don't feel compelled to knock doors or to seek a non-willing audience. What they do with the ideas i give them, is all up to them.
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