William Burkitt on Matthew 11:29

Here note, That the phrase of take the yoke is judaical; the Jewish doctors spake frequently of the yoke of the law; the yoke of the commandments: and the ceremonies imposed upon the Jews are called a yoke, Acts 15:10.

Now as Moses had a yoke, so had Christ.

Accordingly, observe, 1. Christ's disciples must wear Christ's yoke. This yoke is twofold; a yoke of instruction; and a yoke of affliction; Christ's law is a yoke of instruction; it instructs; it restrains our natural inclinations, it curbs our sensual appetites; it is a yoke to corrupt nature; this yoke Christ calls his yoke, Take my yoke upon you: 1. Because he, as a Lord, lays it upon our necks.

2. Because he, as a servant, bore it upon his own neck first, before he laid it upon ours.

Observe, 2. That the way and manner how to bear Christ's yoke must be learnt of Christ himself. Take my yoke upon you, and learn of me; that is, learn of me, both what to bear, and how to bear.

Observe, 3. That Christ's humility and lowly-mindedness, is a great encouragement to Christians to come unto him, and learn of him, both how to obey his commands, and how to suffer his will and pleasure. Learn of me, for I am meek.