Take my yoke upon you and learn from me, for I am meek and humble of heart; and you will find rest for yourselves. (NAB) Matthew 11:29
One thing I have found in life is understanding the nature of Jesus. How truly meek and humble he is. I often think that the yoke he asks us to wear is basically to unite ourselves to him. Where he shares our burdens on a daily basis. Walking beside us often taking the load when things appear to become too heavy for us to carry. When we allow him control to guide us, the burden becomes lighter. How much easier it is when we are united to Jesus.
Imagine being attached to another by a yoke who are at cross purposes, what happens? It's a contant battle, one wants to go one way and the other another way. Then the burden becomes a heavy one. The unity is not there, and there is no rest either.
When you find yourself united with Jesus, life and everyday living is one that is at peace, that the burdens become truly light, it's amazing how much he takes upon himself to ease us. I would sometimes think of an egg yolk as the yoke, it reminds me to be centered on God.