What's the Difference Between Authority of Command and Authority of Counsel?

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We all have both type of authorities the difference is the foundation we use to use it.
The only foundation for the exercise of both authorities in Christianity is the Word of God.
Our commands and counseling have always to be submitted to the Word of God. A position or ministry never put us over God and His Word and we always operate as instruments of God and not as independient individuals.
All Scripture is breathed out by God and profitable for teaching, for reproof, for correction, and for training in righteousness, that the man of God[b] may be complete, equipped for every good work. (2 Timothy 3:16-17 ESV)