The Lord here invites us to lay all our cares on Him. Serving God is the greatest work anyone can do.
1 Peter 5:6–7Humble yourselves, therefore, under the mighty hand of God so that at the proper time he may exalt you, casting all your anxieties on him, because he cares for you.
28 Come to me, all who labor and are heavy laden, and I will give you rest.
29 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.
30 For my yoke is easy, and my burden is light.”
The word here translated "labor" (κοπιάω) describes the weariness that comes from hard work over a long time.
Matthew 6:28–29And why are you anxious about clothing? Consider the lilies of the field, how they grow: they neither toil nor spin, yet I tell you, even Solomon in all his glory was not arrayed like one of these.
The word here translated "heavy laden" (φορτίζω) refers to cargo.
Matthew 23:2–4The scribes and the Pharisees sit on Moses’ seat, so do and observe whatever they tell you, but not the works they do. For they preach, but do not practice. They tie up heavy burdens, hard to bear, and lay them on people’s shoulders, but they themselves are not willing to move them with their finger.
We are reminded of the Lord giving His apostles rest from their labor while preaching alongside Him.
Mark 6:31And he said to them, “Come away by yourselves to a desolate place and rest a while.” For many were coming and going, and they had no leisure even to eat.
The Law introduces the concept of a rest for the people when it imposes the observance of the Sabbath. See Deuteronomy 5:14; Leviticus 25:2; Exodus 23:12.
The New Testament also shows that Christians can--and should--give each other rest, too. See 1 Corinthians 16:18; 2 Corinthians 7:13; Philemon 7, 20.
A yoke is for two animals to work together to pull one load. The Lord is offering to help us with our burdens.
The word here translated "easy" (χρηστός) is the word used to describe foods as "edible," water as "potable." It conveys a sense of benefit to the person who takes it on. This same word is used throughout the Old Testament in the refrain, "O, Give thanks to the Lord, for He is good, for His mercy endures forever."
1 Peter 2:2–3Like newborn infants, long for the pure spiritual milk, that by it you may grow up into salvation—if indeed you have tasted that the Lord is good.
The word here translated "light" (ἐλαφρός) refers to a light weight, something easy to carry. Paul uses it famously to refer to our time on earth, reminding us, too, of earlier words from Peter.
2 Corinthians 4:17For this light momentary affliction is preparing for us an eternal weight of glory beyond all comparison....
1 Peter 1:6In this you rejoice, though now for a little while, if necessary, you have been grieved by various trials....