"Jesus offers rest and relief to the broken and weighed-down. The image that should come to mind when Jesus says “weary and heavy laden” is of an exhausted slave worker, and when he says “I will give you rest,” it could best be translated as “relief.” When you feel the emotional and spiritual weariness of carrying a heavy burden, Jesus is not a slave driver, but the one who frees you from slavery and gives you relief.Jesus talks about his “yoke” (v. 30) and contrasts it with the yoke of the Pharisees who heap burdens but don’t lift a finger to help. Jesus is the opposite. Those who come to Jesus will find that his yoke is lighter, not because he demands less but because he bears the load for us."
Justin Holcomb, The bulls-eye of the gospel