25 At that time Jesus prayed this prayer: “O Father, Lord of heaven and earth, thank you for hiding these things from those who think themselves wise and clever, and for revealing them to the childlike. 26 Yes, Father, it pleased you to do it this way!

27 “My Father has entrusted everything to me. No one truly knows the Son except the Father, and no one truly knows the Father except the Son and those to whom the Son chooses to reveal him.”

28 Then Jesus said, “Come to me, all of you who are weary and carry heavy burdens, and I will give you rest. 29 Take my yoke upon you. Let me teach you, because I am humble and gentle at heart, and you will find rest for your souls. 30 For my yoke is easy to bear, and the burden I give you is light.”

Invitation - Come to me
Instruction - Learn from me
Intimacy - Rest in me

Ralph Earle   quote “to take Christ’s yoke is to recognize Christs full lordship in your life.”
“God has made us this way, in his own image, because he himself is a personal, relational being.”
― Gordon D. Fee

His burden is light because :

1.     He has released us from the pressure of striving

2.     You never have to carry it alone.

3.     He is humble and gentle in heart

Only the man who follows the commands of Jesus single-mindedly; and unresistingly lets his yoke rest upon him, find his burden easy , and under its gentle pressure receives power to persevere in the right way…for those who willingly submit, the yoke is easy, and the burden is light.”  Dietrich Bonhoeffer, The Cost of Discipleship.

True submission = true freedom.