The closest that I can see is 出し合う. Is there something better to express doing what you are expected to do in a pre-arranged situation?
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How about...
「自分の役目を果たす」「自分の役割を果たす」「自分の務めを果たす」
answered Jul 17, 2017 at 15:08
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Do any of these fit in a military context? Are they relevant for an ad hoc circumstance? Jul 18, 2017 at 6:17
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I think these are the most general ways to say "play one's role/part", or "perform one's duties". You could use any of them in a military context, but 自分の任務を果たす (lit. complete one's mission) might sound a bit better? (任務=mission)– chocolate ♦Jul 18, 2017 at 16:05