Jesus calls us to Him, with our weariness and burdens, and He promises to give us rest. His rest involves submitting to His yoke, and He assures us of His guidance. The rest offered by a guiding yoke of submission to Jesus is interwoven with the restoring, rejuvenating rest of the Sabbath Day. Both require trusting God. The Sabbath rest inherently involves trusting Him for provision during our time of rest, and the yoke asks us to trust Him to direct our lives.
https://www.christianity.com/jesus/life-of-jesus/teaching-and-messages/the-yoke-of-jesus-biblical-meaning-and-importance.html
