The idea of sending people into the mission field began in 1995. Scott Benjamin, a former Grace 8th grade teacher, decided in 1986 to go to the seminary and become a pastor. Then in 1994 he took a one year sabbatical to teach English in St. Petersburg, Russia. At the end of that school year Mr. Benjamin asked Grace members Shirley and Al Piepenbrink to go to Russia during the summer of 1995 to do some ministry activities with kids and teachers. The Piepenbrinks decided to go that summer and continued to return in 1996, 1997, and 2000. Each year individuals from the church went along so they too could experience the joy of witnessing to others.

Another event that served as the catalyst for creating Acts of Grace occurred during the summers of 2002-2004. Grace sent teams of volunteers to Idaho to witness and do Vacation Bible School programs. Pastor Reinke, who worked at Grace while attending school at Concordia University was a circuit rider pastor in the northwest district (part of which is Idaho). His mission was to travel from town to town and start in-home Bible classes in the small towns in Idaho. The state of Idaho is very Mormon with a few Christians scattered around. Grace helped with his ministry outreach during those three summers by going to a different town each summer to spread the Good News.