You access the pseudo rows OLD
and NEW
to do this.
New contains the new data (e.g. Inserts and new Update data), and Old contains the outgoing data (Deletes and old values prior to an update).
CREATE TRIGGER t_missions
BEFORE INSERT ON Missions
FOR EACH ROW
BEGIN
INSERT INTO Log(user_id, mission_id) VALUES(new.user_id, new.mission_id);
END;