This is an invitation by the one and only Jesus. If you’re tired and struggling, He can give you rest. This also describes the path to God the Father, but it is not one of labor and hard work. Following Jesus frees us from carrying the burden of our own sin because He has already done that work.
All we need to do is put our faith, hope, and trust in Jesus. To take His yoke is to commit to Him and put ourselves under the protection and authority of Christ.
~ scripturalgrace.com