It is commonly thought that Jesus was talking in Matthew 11:28 about the yoke that harnessed animals together when they were pulling a plough or a load. He was instead referring to a piece of wood that was fitted over one’s shoulders so that loads could be hung on it. The device was similar to the yoke used by the milkmaid of a bygone age when she was carrying two pails.
The reference in Matthew 11 is to a porter. Often he was asked to carry loads impossible for a human being, but when he was given a yoke, the burden become much easier. Jesus does not say that he will take our burdens away but that he will give us the means of carrying them so that they are not too much for us.
MATTHEW 11:28 – 28 Come unto me, all ye that labour and are heavy laden, and I will give you rest.