The goal of discipleship is a love relationship. A disciple knows that God loves them, his commands are to guide him or her to what is best for them and that God will give them everything they need when they ask. When you know God perfectly loves you, obedience to God's commands is our response that shows that we love and trust God. If you love me, you will keep my commandments. John 14:15. 

The basis of discipleship is reading the Bible with someone, teaching them about God's love and training them how to love others by learning and obeying God's commands.