This is a call to offload. Yes, all our problems and baggage, Jesus will take them all. He invites us to come to him for rest and relief of our heavy load. Our sin exempts us from coming into the presence of God because his righteousness can not permit it. Yet because Jesus became the payment for our sin, quenching the wrath of God we can have eternal life. This enables us to gain the promised rest. If anyone has the right to be judgemental and angry it is Jesus. Instead, he chooses to be gentle and lowly of heart. His wishes were not the driving factor that took him to the cross, but it was his love for us and his desire to fulfil the will of the Father (see John 17).
After he calls us to come to him he instructs us to take his yoke and to learn from him. A yoke is not often seen these days, but it is a piece of wood that goes over the shoulders of two animals usually oxen to pull a load. If we choose to take on the burden of Christ we work alongside him learning from him. Rest for our souls is not sitting around with our feet up and nothing to do. As Christians, we need to participate in the work Christ is doing. His burden is easy and it’s light to bear because he is with us each step of the way.