How does Jesus give rest to the weary and joy to the oppressed? He offers a change of yokes. For the burden of legalistic religion, he offers a faith of freedom and love. For the yoke of selfish pride, he offers the liberating confidence of humility and trust. For the burden of sin, he offers the joy of forgiveness.
In other words, the rest that Jesus promises the weary is not the rest of idleness. Rather, Jesus offers the deep calm that comes from a new perspective and a fresh involvement in life. When we take up the yoke of Jesus, we find the center of our lives shifting from ourselves to others. Our concerns are now focused on others rather than ourselves.