Sapir-Whorf posits that “The structure and vocabulary of a language influence how its speakers perceive and conceptualize the world.”

While many disagree with this, I believe it is a matter of perspective and of processes. When communication begins there must be a basis of comparison and agreement.
Perceived need → Utterance → Shared understanding → Reinforced use → Structural change in language → New patterns of thought

While this is simplified, it is not incorrect.

In order to communicate two entities must agree on methods, whether they be verbal, gestural, facial, or some other method. Once this is agreed upon, some signal or utterance becomes the standard of describing something, someone, or an action. The way in which the grammar is formed and used will come from the considered importance from the beginning of communicative interactions, thus the language will develop along the lines of import initially established.

As time passes, these two teach others the linguistics involved, again, whether it is verbal, gestural, or something else makes no difference. The way in which the communication takes place ultimately places the import on the social cues imparting not just the words, but the way to think about the world.