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"Go forth" is a participle; "instruct" is the main verb.
Many moons ago I was scratching my head over this passage, until I had it explained to me this way: If you have an aorist participle in front of an aorist imperative, the construct is to be considered as a double imperative.
It should be noted that just because something is a participle it does not follow that it must be subordinate in meaning to the finite verb.
In this specific instance, it is clear that they are commanded to "go forth" just as much as they are commanded to "make disciples."
Many moons ago I was scratching my head over this passage, until I had it explained to me this way: If you have an aorist participle in front of an aorist imperative, the construct is to be considered as a double imperative.