The first settlement was established in 1824 by Oblate Fathers on a site three miles south of the present town. Priests are said to have planted an orange grove that was one of the first citrus experiments in the lower Rio Grande Valley. Mission has since become a center for the citrus industry and celebrates this with the Texas Citrus Fiesta in January. Other events include the South Texas Outdoor Life Festival and the Texas Butterfly Festival in October.

John H. Shary, known as the father of the Texas citrus industry, built his home, the Mansion on Shary in Mission. Later, the home was a residence for Gov. and Mrs. Allan Shivers. Open by appointment only. Admission charge. Four miles north on Shary Road. (F.M. 494). 956/432-8036.

With average winter temperatures of 65–75 F degrees, Mission is a golfer's paradise. It is home to four premier golf courses—Cimarron Country Club, Martin Valley Ranches, Meadow Creek in the Valley and Shary Municipal Golf Course—offering almost 30,000 yards of pristine fairways. 800/520-2700. tourism@missionchamber.com.

The Mission Hike and Bike Trail, a five-mile trail, runs between South Conway and Bensten-Rio Grande Valley State Park.