Take My yoke upon you and learn from Me, for I am gentle and lowly in heart, and you will find rest for your souls. For My yoke is easy and My burden is light. (Mat 11:29-30)
The Lord Jesus is saying that He is meek, humble, and tender-hearted when He says He is gentle. Lowly in heart can mean simple and unpretentious at heart. And when Jesus states that His yoke is easy, He’s saying that union with Him is useful, pleasant, good, and suitable for us.
In contrast to the heavy, legal burden of Judaism, Jesus calls for an open, free and loyal relationship (My yoke). This type of relationship enables, aids; or supports obedience to the law’s righteousness. (My burden)
When we accepted Christ as Savior, we accepted Jesus’ righteousness. He completed His work—we are saved! Therefore, our burden indeed is light, because He bore it on our behalf. And now we are privileged to be yoked to Him in love, devotion, and thanksgiving forever.