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  (Photo: T.D. Jakes Ministries)
  Bishop T.D. Jakes of The Potter's House speaks at the Pastors and Leadership Conference in Orlando, Fla., on Friday, April 1, 2011.

Widely acclaimed pastor Bishop T.D. Jakes appeared on "Oprah's Lifeclass the Tour" Monday evening to discuss with the iconic talk show host and the show's interactive audience how to live a life of purpose.

Jakes, an influential Christian leader who has a 30,000-member church in Dallas, Texas, is well known for his powerful sermons in which he addresses topics relevant to faith -- such as living a life of purpose.

The minister's hour-and-a-half "Lifeclass" episode was filmed at the Peabody Opera House in St. Louis, Mo. Prior to addressing the audience on his own, Winfrey spoke to Jakes about how he discovered his own life's purpose.

"The first time I walked on a stage I knew that was what I was created to do. I knew that there was a calling and a sense of purpose in my life that gave me fulfillment and a sense of destiny," the pastor said.

Jakes, who started his church at the age of 19, discussed with the talk show host how discovering one's life purpose requires looking beyond feelings of insignificance in order to understand that no life is a mistake and that everyone has been brought to Earth with a master plan for their lives.

"We are here by a divine purpose," he said.

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Throughout the episode the pastor shared different challenges people face when determining their life's purpose, including being pushed into functioning in areas that might not be at an individual's highest or best use, confusing talent with purpose, and doing that which one is not created to do.

"Half the battle is not spending your life to be what you aren't," he said, before sharing with the audience that the key to fulfilling their purpose is to find passion.

"It is your passion that empowers you to be able to do that thing you were created to do," Jakes said.

The popular pastor also touched on the need to let go of fear and embrace forgiveness and courage to be able to move forward into a life of purpose.

"Resist your fear, fear will never lead to you a positive end. Go for your faith and what you believe," Jakes said. "Get out of the boat Peter, walk on the water."

Jakes, whose sermons are broadcast both nationally and internationally, did not directly mention Christ during the show, but referenced the Bible when discussing the importance of working hard and making investments in life -- particularly if the returns are not immediately available.

"Be not deceived: God cannot be mocked; for whatsoever a man soweth, that shall he also reap," he said, quoting Galatians 6:7.

Jakes' discussion on "Oprah's Lifeclass" comes after the megachurch minister's revealing interview with the talk show host aired Sunday night. In the interview, the pastor responded to those critical of his wealth and shared his perspective on having an African-American president in the White House.