Take my yoke upon you and learn from me, for I am gentle and humble in heart, and you will find rest for your souls.
The concept of a yoke is likely lost on many people in urban society today. It was like a harness made of wood that would be placed on an animal or pair of animals so that they could pull a plow, wagon, or some other heavy load.
Jesus offers to take our burden from us. The heavy weight from worry that we carry on our shoulders needs to be lifted. God has promised that He will never give us more than we can handle but that burden is not meant to be carried by us. When Jesus carries the burden for us, of course there is never more than we can bear.
In place of our heavy yoke, Jesus offers us His yoke. His yoke is light. Rather than stress and worry He offers us peace and comfort.
Jesus is gentle with us. Some believe that the Christian life is burdensome with rules that are meant to take away the fun of life. Instead they are meant to allow us to experience the best that life has to offer and to have joy. Jesus wants the best for us and would never place an undue burden upon us.