Last night I went out with some friends for what we're calling the Downtown Ministry. Basically we go to downtown (Orlando) and take clothes or food or whatever to the people living on the streets. We don't pass out lameass tracts or do anything most churches would consider "witnessing". We just hang out and talk to folks.
Jesus always met physical needs along with spiritual ones. We try to meet basic needs like food and clothing, but also emotional ones. People avoid the homeless. Pay attention to yourself, and you'll notice how you intentionally don't look at homeless people. Or people are jerks. Even those with good intentions can sometimes be condescending. We try to just restore some of the dignity of being a human being to our friends downtown.
It was really good. Like most "outreach" or whatever, I'm sure I took away a lot more than I gave. I didn't have any kind of epiphany about the poor or amazing spiritual experience. I just met some people, and talked (and learned how to listen) awhile. I highly recommend it.