One of the best ways to foster a connection between two people or a group is to share a vision or desire for the future. You also have to make that vision of the future clear with a strategy. If it’s only you on the mission, you still have to have this vision and grand strategy—as Robert Greene* would call it—even if nobody else knows.
But if you’re leading a team and nobody knows the final vision, that could be problematic. Robert Greene would also advise you to create a deceptive end goal and rally your troops with that, even though you have an alternate scheme. I can’t recommend such artifice to you, but it serves the point that an army with an enemy (and thus a goal) fights well.
*Robert Greene’s books are an obvious influence on me, though this paragraph is a nod to The 33 Strategies of War in particular.