After a brief 1-year ministry between 1981–1982, Udayakumar again became a Pastor from 1985 onwards pastoring Churches of the
South Andhra Lutheran Church established by the
Hermannsburg Mission in the districts of
Chittoor and
Nellore. In 1987, Udaykumar was Exchange Pastor of the
Evangelical-Lutheran Mission in Lower Saxony from 1987 to 1992 and then joined the
Gurukul Lutheran Theological College to take up a teaching assignment. In 2011, Udayakumar was made Principal of the College, a position which he has been occupying till the present times. ==Writings==