Take my yoke upon you, and learn of me; for I am meek and lowly in heart: and ye shall find rest unto your souls.
Note 2 at Mt 11:29: A yoke was made of wood with two hollowed-out sections on the bottom portion that rested on the necks of oxen that were used to plow or to draw a cart. Figuratively, a yoke symbolized servitude or submission. Jesus was admonishing us to submit ourselves to Him, for true rest comes from serving Him, not ourselves (Mt 10:38-39, 16:24-25; Mr 8:34-37; and Lu 9:23-25).
A new ox was often trained for plowing or drawing a cart by yoking it with an experienced ox. The yoke kept the young ox from "doing its own thing," and it soon learned obedience to its master. In like manner, we are to commit ourselves to being yoked to Jesus. "It is not in man that walketh to direct his steps" (Jer 10:23). Therefore, we have to bear the yoke in our youth (La 3:27) if we want to become mature Christians. The comparison ends at this point, though. Unlike the sometimes-harsh treatment oxen are given to bring them into subjection, Jesus is "meek and lowly in heart" and wins us by love (1Jo 4:11 and 19). Jesus pulls more than His "share" of the load; therefore, our burden is light (Mt 11:30).