No it was not Barabas the theif. But Barnabas who went with Paul.
On Barnabas's second missionary journey, he took John Mark and sailed to Cyprus, which was Barnabas's home island. They aimed to revisit the churches they had established during their previous missionary work. However, their journey later diverged as Paul chose Silas for his own missionary efforts, leading to separate paths for Barnabas and Paul.
Barnabas appears to have been the leader of the first missionary journey. There are several reasons for believing this. 1. Barnabas originally took on a mentoring role, seeking out Paul and bringing him to Antioch before. 2. Luke gives Barnabbas primacy in listing at the beginning of the mission trip (Acts 13) and only later moves to placing Paul first. 3. The mission trip started by going to Cyprus, which was the homeland of Barnabas. Only after that, did they go to Asia Minor, the homeland of Paul. 4. The people in the city of Lystra believed that Barnabas was the leader of the team. According to Acts 14: 11-12, "When the crowd saw what Paul had done, they yelled out in the language of Lycaonia, 'The gods have turned into humans and have come down to us!' The people then gave Barnabas the name Zeus, and they gave Paul the name Hermes, because he did the talking." So the people saw Barnabas as Zeus, the leader of the gods, and Paul as Hermes, the spokesman of the gods. While we (rightly) give great credit to Paul as a great missionary, it seems as if Barnabas may have been the one that developed the method of missions that was used by Paul and Barnabas on the first trip, Paul on the 2nd and 3rd trips, and (presumably) Barnabas and John Mark on their 2nd trip.
Acts 15:36 - Then after some days Paul said to Barnabas, "Let us now go back and visit our brethren in every city where we have preached the word of the Lord, and see how they are doing." [NKJV]
Paul goes on his 1st Missionary Journey starting in Acts 13:1-3, from Antioch. He and Barnabas go to Cyprus and then to the cities of Galatia in Asia Minor. What many forget is that Paul's platform in these cities were the Jewish synagogues where he preached the gospel. At times, he encountered opposition from the Jews here.
He was originally a Levite named Joseph who converted in Jerusalem and became the apostle Paul's companion on most of his first missionary journey. They ended up going different directions when they had a dispute over whether they should take John Mark or not (Barnabas wanted to, Paul didn't). Barnabas took Mark and sailed for Cyprus, but Paul choose Silas and continued on his journey. Acts 15: 36And some days after Paul said unto Barnabas, Let us go again and visit our brethren in every city where we have preached the word of the LORD, and see how they do. 37And Barnabas determined to take with them John, whose surname was Mark. 38But Paul thought not good to take him with them, who departed from them from Pamphylia, and went not with them to the work. 39And the contention was so sharp between them, that they departed asunder one from the other: and so Barnabas took Mark, and sailed unto Cyprus; 40And Paul chose Silas, and departed, being recommended by the brethren unto the grace of God. 41And he went through Syria and Cilicia, confirming the churches.
Antioch, Attalia, Antioch, Samalis, Paphos.
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Paul received the "Macedonian call" while on his second missionary journey. His first trip to Europe was in response to this call. You can read about when Paul started his second missionary journey in Acts 15:36-41, and when Paul received the "Macedonian call" in Acts 16:6-11, and read about the first convert in Europe in Acts 16:14-15.
Acts 13:13 - Now when Paul and his party set sail from Paphos, they came to Perga in Pamphylia; and John [Mark], departing from them, returned to Jerusalem.Acts 15:36-40 - Then after some days Paul said to Barnabas, "Let us now go back and visit our brethren in every city where we have preached the word of the Lord, and see how they are doing." 37 Now Barnabas was determined to take with them John called Mark. 38 But Paul insisted that they should not take with them the one who had departed from them in Pamphylia, and had not gone with them to the work. 39 Then the contention became so sharp that they parted from one another. And so Barnabas took Mark and sailed to Cyprus; 40 but Paul chose Silas and departed, being commended by the brethren to the grace of God.[Quotes from NKJV]
Paul's own epistles give no information, other than that he plannedto go to Rome. Since there is no confirmation in Paul's own epistles of the appeal to Caesar and the journey to Rome, some challenge the historicity of Acts and dismiss the account of Paul's hazardous sea journey in Acts 27:1-28:14 as novelistic fiction. The only other source that could help us is Clement of Rome, who appears to suggest that Paul eventually went to Spain. If so, Paul almost certainly went to Rome at least one time.
Ananias instructed Paul to get up, go into the city of Damascus, and await further instructions regarding what he must do. He emphasized that Paul would receive a message about his mission, highlighting the significance of his transformation and calling. This encounter marked a pivotal moment in Paul's journey from persecutor to apostle.