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But Paul thought not good to take him with them, who departed from them from Pamphylia, and went not with them to the work.
Note 2 at Ac 15:38: Just as in Ac 15:25 (see note 2 at Ac 15:25) and Ac 15:34 (see note 1 at Ac 15:34), there is no mention that this was a direct leading of the Lord. It just didn't seem right to Paul to take Mark with them, and so Paul wasn't going to do something he didn't feel right about.
As written in Pr 11:3, "The integrity of the upright shall guide them." Paul had established certain standards of conduct for himself and those who ministered with him, and Mark had not met those standards. Paul had established these standards because of his convictions from the Lord, so he felt right in letting them guide him.
We should always be listening for any special instructions from the Lord, but if there is no specific word to the contrary, it is proper to let the integrity that the Lord has already worked in us guide us.
Note 3 at Ac 15:38: This scripture directly links Paul's refusal to take Mark with them to the fact that Mark departed from them prematurely on their first missionary journey. That still leaves many questions about what Mark's motives were for the departure, but suffice it to say Paul thought Mark's reasons were inadequate.
This reveals an attitude that Paul had toward those in leadership that we would do well to imitate. Paul did not want to spend his time ministering to his own team. He needed only strong, mature help. The weak or wounded should not be put on the front lines, for their own sake as well as the sake of the mission.
Whatever Mark's problems were, they were resolved so that he went on to become a mighty man of God (see note 5 at Ac 15:39). There is no reason to believe that Paul was against that. In fact, Paul's treatment of Mark here could have been the inspiration for him to grow up.