28 ‘Come to me, all you who are weary and burdened, and I will give you rest. 29 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. 30 For my yoke is easy and my burden is light.’
A king who dies on the cross must be the king of a rather strange kingdom. Only those who understand the profound paradox of the cross can also understand the whole meaning of Jesus’ assertion: my kingdom is not of this world.
"Lectures to the Congregation in Barcelona"
Jesus calls all who are laden with many kinds of suffering and burdens to cast off their yoke and take upon themselves his yoke, which is easy, and his burden, which is light (Matt 11:30). His yoke and his burden are the cross. To walk under this cross is not misery and despair but refreshment and rest for the soul. It is the greatest joy. Here we are no longer under self-made laws and burdens but are under the yoke of the one who knows us and who walks with us himself, under the yoke. Under his yoke we are certain of this nearness and communion. It is he himself whom disciples find when they take up their cross.