Members engage in missionary work with the poor and abandoned in both the United States and Latin America.
After his father's death, Judge found work at a post office while completing night school at Boston High.
For the next twelve years, Judge preached parish missions from New Jersey to Puerto Rico, from his base in Germantown.
[citation needed] In April 1909, he met, at the St. John Gabriel Perboyre Chapel of St. John the Baptist Church in Brooklyn, with six women volunteers interested in assisting new immigrants from the Catholic countries of eastern and southern Europe to adjust to life in their new country.
As of 2019, there are 121 members of the Missionary Servants including priests, deacons, brothers, and novices, serving in thirty-nine missions located in the United States, Puerto Rico, Colombia, Costa Rica, Haiti, Honduras and Mexico.
Across the United States, Mexico, and Puerto Rico, Missionary Servant priests and brothers are working in poverty-afflicted urban neighborhoods, immigrant communities, Native American reservations, and small towns in the rural South.
In Costa Rica, Honduras, Colombia, and Haiti, they serve communities of people living in towns and tropical rain forests.
The Missionary Servant Habit consists of a black cassock closing at the right shoulder with three buttons, symbolizing the Holy Trinity, only with a military collar.
In 1916, Margaret Louise Keasey from Butler, Pennsylvania, joined Judge to teach in Cenacle mission school in Phenix City, Alabama.
In February 1932, the sisters received canonical status from Rome under the title, Missionary Servants of the Most Blessed Trinity.
Today the Missionary Servants of the Most Blessed Trinity serve the Church in many dioceses across the continental US, Puerto Rico and Mexico.
In 1928 he asked her to assume the role of General Custodian for the combined lay groups, which became known as the Missionary Cenacle Apostolate.