Inspired by his contact with David Livingstone, Arnot left Glasgow in 1881, heading for the heart of Central Africa where he penetrated areas where no missionaries had been before. A 'chance' meeting drew him to Katanga in Southern Congo, where he encountered Msiri, king of an extensive empire, and started mission work. He recruited a team from Britain to join him, who, after severe setbacks, established work in three countries of Central Africa. Despite poor health, Arnot continued to pioneer new areas, and his final illness occurred while opening new work on the upper Zambezi. His legacy lives on in thousands of churches spread across Central Africa.