Command is the authority that an immediate superior lawfully exercises over subordinatesby virtue of rank or assignment. Command includes planning, organization, mission, coordination instructions, and controlof the unit to accomplish assigned missions. It also includes the responsibility for health, welfare, morale, training, and discipline of the soldiers. The final decision and responsibility remain with the commander. The commander discharges his responsibilities through an established chain of command. When the commander assigns a mission to a subordinate, he also delegates the necessary authority and provides him with the instructing guidanceto accomplish the mission.