The Archbishop of Cape Town's plea comes as a conservative colleague has reiterated his call for a boycott of the Lambeth Conference in 2020, branding it an "obstacle to the gospel".
But Thabo Makgoba, part of the group tasked by the Archbishop of Canterbury Most Rev Justin Welby with organising the summit in Canterbury, told members of the international Anglican community they "need each other".
Addressing the Anglican Communion in a video, he said: "I know people talk about the fabric of the communion as torn but we are all fallible human beings in need of God's love and grace, and we need each other."
Disagreements concerning matters such as homosexuality and marriage have highlighted staunch differences between progressive and traditionalist branches of the worldwide Anglican Church.
Last week, the Archbishop of Nigeria, Nicholas Okoh cited the recent same-sex wedding of the Assistant Bishop of Toronto inside an Anglican cathedral as indicative of his concerns over the Church's trajectory.
Archbishop Okoh said: "This step by the Anglican Church of Canada underlines the urgency of our advice in the Jerusalem 2018 'Letter to the Churches' warning against attending the 2020 Lambeth Conference as currently constituted."
The Chairman's February letter is available! Archbishop Okoh urges faithful Anglican Bishops to think twice before accepting an invitation to attend Lambeth 2020. Read his full letter here: https://t.co/Kq8FWYJGc2 pic.twitter.com/sSpT5Ur00m— GAFCON (@gafconference) 7 February 2019
He is among members of the conservative Anglican movement GAFCON (the Global Fellowship of Confessing Anglicans) who have spoken out against the 2020 Lambeth Conference.
Meanwhile, Archbishop Thabo, a senior figure in the Anglican Church of Southern Africa, urged leaders to "come and express your difference in this beautiful space which is a gift from God".
He continued: "Whether you agree with where the communion is, whether you don't agree, come and express your difference in this beautiful space which is a gift from God.
"Don't just stay at home and say 'I'm not going'".
Stay up to date with the latest news stories from a Christian perspective. Sign up to our daily newsletter and receive more stories like this straight to your inbox every morning.