A yoke was a wooden collar placed on the neck of an ox to which plows and other farming implements were attached (Hosea 11:4). Jesus used the yoke in this passage as a metaphor for commitment to Him and His teachings.
Compared to the burdensome teachings of the Pharisees. Jesus’ yoke was light and easy to wear. It did not chafe or bind, as did their legalistic rules. Anymore who wore His yoke would actually find rest, relief, and hopes in His gospel of grace and forgiveness.
MATTHEW 11:29-30 – Take my [Jesus’] yoke upon you, and learn of me. . .and ye shall find rest unto [for, NIV] you souls for my yoke is easy, and my burden is light.