“Take My yoke upon you and learn from Me, for I am meek and lowly in heart, and you will find rest for your souls. For My yoke is easy and My burden is light.” Matthew 11:29-30
First, we must come to Christ as our Rest, and repose ourselves in Him.
Second, we must come to Him as our Ruler, and submit ourselves in Him, ‘Take My yoke upon you.’ This must go along with the former, for Christ is exalted to be both a Prince and a Savior (Acts 5:31), ‘a priest upon his throne‘ (Zechariah 6:13). The rest He promises is a release from the drudgery of sin–not from the service of God. Christ has a yoke for our necks–as well as a crown for our heads; and this yoke He requires that we should take upon us.
Third, we must come to Him as our Teacher, and set ourselves to learn of Him. We must learn of Him to be ‘meek and lowly,’ and to mortify our pride and passion, which render us so unlike to Him. We must so learn of Christ, for He is both Teacher and Lesson, Guide and Way.
Matthew Henry 1662-1714