Rest Only Christ Can Give Part 2

We don’t work for rest; we work from Rest.

Preparing for this sermon has landed differently on me this week. God has revealed to my heart the burden of working for rest, verses the freedom of working from rest. Many of us who have been in the church a while, or who grown up in the church, are tempted to believe that God would love you if you got everything right. So you work tirelessly—serving at church, maintaining appearances, hiding your shame. But inside, you are exhausted, anxious, and afraid. Every time you stumbled, you fear you had lost God’s favor.

Then you read Matthew 11:29–30:

“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.”

What am I to make of this? Jesus is not as a taskmaster, but a Savior. He isn’t waiting to punish you for collapsing—He was ready to carry you. It’s at this realization of Jesus as your rest you are able to say to Him, “I can’t carry it anymore.” And Jesus responds, “You didn’t have to. I already had been carrying all of it.” Finally, rest for your soul.

In our fallen condition, we carry burdens we were never meant to bear—either by trying to earn God’s favor through our own effort, or survive the brokenness of a Genesis 3 world through our own strength. Our souls are weary from law-keeping, religious striving, personal failure, and the crushing weight of a sin-cursed life. Left to ourselves, we yoke ourselves to the law God or to the comforts of world, and we labor endlessly and never find rest.

Jesus invites the weary to come—not to work harder—but to walk with Him. He doesn't abolish the Law but fulfills it for us. He doesn't remove the yoke of obedience but replaces the crushing yoke of performance with His own—gentle, gracious, and kind yoke. In Him, we find true rest for our souls because He has already borne the heaviest burden—our sin—on the cross. Jesus calls you this morning not to work for rest; but to work from His rest.

In the first sermon, we learned how justification provides rest for your soul. Jesus justifies you. The burden of your sin has rolled away. I will speak a bit more on this later. This morning, Jesus will show us how to work from His rest. He calls us to take his yoke. What does it mean to take his yoke and how do we work not for rest, but from rest.

Picking up from where we were last time, Jesus says,

“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.” Matthew 11:29

The goal is rest. But first Jesus says come and labor. What does he mean, “take my yoke?”

Come to Jesus: Learn what it means to be His Disciple (Matthew 11:29)

If you want to learn how to work from rest, you need to learn what it means to a disciple of Jesus.

In our passage, Jesus addresses a diverse crowd that includes both peasant Jews and prominent Pharisees. The Pharisees urged the people to embrace the law, using the term “yoke.” The word “yoke” refers to a wooden bar or frame that joins two draft animals at the head or neck, enabling them to work together effectively—such as pulling a plow, harrow, or wagon. The animal must submit to its master, learning to obey his voice and commands. To assist a younger animal, the master would pair a stronger, experienced animal with a weaker, untrained one. The aim is for the stronger animal to teach the weaker animal how to work and respond to the master’s voice.

Using the yoke analogy, the Pharisees attached themselves to the law and taught others to do the same, promising that they would find rest for their souls. However, as we saw before, the law cannot grant that rest because, although it exposes sin, it cannot save. It shows your treason against God but offers no way to be forgiven or justified. The Law is like an MRI: it doesn’t cure the tumor but reveals it.

Furthermore, the Pharisees burdened the people with extra rules and regulations that made keeping the law even more difficult. In Matthew 23:4, Jesus states, “They tie up heavy burdens, hard to bear, and lay them on people’s shoulders, but they themselves are not willing to lift a finger.” Jesus addresses those who, like some of you, are crushed by legalism, exhausted from moral effort, and discouraged by life in a fallen world. When you collapse under the weight of trying to keep the Law with a works based righteousness, the Law offers no helping hand to lift you up. Instead, it is an yoke driven by a hard master that leads to despair because the the voice of the master condemns you and the animal next to you drives you to believe you must earn salvation through your own efforts. The Law of God is hard enough, but under the Pharisees, the law was harsh, prideful, and oppressive to the soul.

If that sounds like you, Jesus comes to you this morning with a word for your spiritual fatigue. What He offers you is not more rules, but rest. Not religion, but relationship. Not a heavier yoke, but His own yoke—a gentler, kinder, and life-giving yoke. A yoke that bears your burdens while carrying you along as you toil in this life to be a faithful disciple of Jesus. Take Jesus’s yoke and learn what it means to be his disciple. It’s gentler, kinder, and life-giving, but not necessarily easier.

Learning to be a disciple of Jesus in this world involves hard work and effort. Paul, referring to his ministry to the church in Colossae, says, "For this I toil, struggling with all his energy that he powerfully works within me" (Colossians 1:29). He also encourages the Philippian believers to "work out your own salvation with fear and trembling, for it is God who works in you, both to will and to work for his good pleasure" (Philippians 2:12–13). Jesus does not promise an easy life when you accept his yoke; the path is narrow, difficult, and few find it. While he offers rest for your soul, he never guarantees rest for your earthly labor in this body. We look forward to the resurrected and glorified body to come for our complete rest. Until then, we are called to bear Christ's yoke and labor in this life for the kingdom, but our labor is different from that of the Pharisees.

There are two observations I find strikingly beautiful about laboring under Jesus’ yoke that help me work from rest.

Jesus’s yoke gives you not guilty fully forgiven rest.

Last sermon I said that justification is the rest Jesus provides your soul. Your soul is burdened by sin. The law declares you guilty and offers you no way to free yourself from its penalty. Your soul needs to be justified, that is declared not guilty.

Someone might ask, “By justification, do you mean forgiveness of sins?” Justification is more than just God forgiving your sins—though it certainly includes that. It is the very declaration from heaven that you are no longer guilty and that you now stand clothed in the righteousness of Christ. That’s what justification means: not guilty and fully righteous—because of Jesus. This is what gave peace to Martin Luther’s troubled soul. When he realized he could not earn God’s favor, but that Jesus stood ready to forgive and to clothe him in perfect righteousness, his soul was set free. He rested not in performance, but in a Person. And from that rest came revival. From that assurance came reformation.

Furthermore, justification is a gift. Paul says we are justified “by His grace as a gift” (Rom. 3:24). You didn’t earn it. You didn’t deserve it. And you certainly didn’t cause it. That means justification is entirely unmerited. You are saved by grace alone, through faith alone, because of Christ alone. And faith is not your contribution—it is simply the open hand that receives the gift. That’s why Paul says, “We hold that one is justified by faith apart from works of the law” (Rom. 3:28). It’s not about what you’ve done. It’s about what Christ has done—and that’s why you can rest.

Finally, justification is not a process. It’s a verdict. Sanctification—the ongoing work of becoming holy—takes time. But justification is instant. It’s the Judge stepping down from the bench, paying your fine, and declaring, “You are free.” Not because of what you’ve done, but because of what Christ has done. That’s redemption—Jesus purchasing your freedom at the cross. His blood paid the price. His resurrection secured the promise. So now, the burden of guilt, shame, and condemnation no longer rests on your shoulders—it rolled away at Calvary. That’s why the Gospel says, “There is now no condemnation for those who are in Christ Jesus” (Rom. 8:1).

Friend, are you tired of carrying what only Christ can remove? Then come to Him. Come broken. He will give you rest. Rest that is complete, immediate, and eternal. Rest at the foot of the cross. Come to Me, Jesus says, and take my yoke. I will be your justification. You no longer have to toil and labor for God’s righteousness. My righteousness will give your soul a not guilty fully forgiven rest.

Jesus’ yoke teaches you to glorify and enjoy him forever.

The phrase μάθετε ἀπʼ ἐμοῦ translates, ‘learn from me.’ This verb refers to obtaining information through both formal and informal instruction. It is similar to the idea behind what Moses instructed parents to do for the children regarding the Torah:

“5 You shall love the Lord your God with all your heart and with all your soul and with all your might. 6 And these words that I command you today shall be on your heart. 7 You shall teach them diligently to your children, and shall talk of them when you sit in your house, and when you walk by the way, and when you lie down, and when you rise. 8 You shall bind them as a sign on your hand, and they shall be as frontlets between your eyes. 9 You shall write them on the doorposts of your house and on your gates.” Deuteronomy 6:5–9

The children are to learn from their parents how to know and enjoy the Lord as they live in the Land. Parents are to teach them in every sphere of life, in the church, community and home in Sunday school and in everyday conversations. It is how the parents advance the kingdom of God in the hearts of their children.

In our context, the word for disciple also has a kingdom advancing meaning to it. It is the same word used in the Great Commission to go and make disciples, teaching them to obey. When Jesus says, learn from me, he is saying, learn what it means to be my disciple. Learn what the goal is for your life on this earth, which is to glorify and enjoy Jesus.

The Westminster Catechism asks the question:

What is the chief end of man? Answer: Man’s chief end is to glorify God and enjoy Him forever.

Westminster Catechism

Learning from Jesus is an invitation to discipleship that teaches you how to glorify and enjoy Jesus. Discipleship is about learning from Jesus in order to become like Jesus. J.T. English wrote a book called Deep Discipleship. In it, he acknowledges that the church has lost its way when it comes to learning from Jesus. The American church focuses so much on building programs instead of building people. He says,

Deep Discipleship: How the Church Can Make Whole Disciples of Jesus The Why behind the What

Success in ministry is not found in building programs but in building disciples—disciples who love God with all of their heart, soul, strength, and mind (

The goal in ministry is a deeper knowledge and enjoyment of Jesus. English explains,

Deep Discipleship: How the Church Can Make Whole Disciples of Jesus The Why behind the What

Our ministry aim is to ask God to bring us into his inexhaustible presence, bottomless beauty, and infinite glory. Fellowship with the Triune God is where we are going, and fellowship with the Triune God is how we are going to get there.

Jesus’ call to learn from him is a call to deeper discipleship that teaches you to live in the fullness of the presence of God through himself. Jesus’ blood atonement brings you safely into the presence of God to fellowship with him. His Spirit lives inside to guide you into all truth and declare to you all that Christ gives to you from the Father (John 16:13-15). His Spirit empowers you to both grow in your knowledge and wisdom, and be able to obey what he teaches. Spirit empowerment is the means by which you work from the rest Jesus provides you.

Come to Jesus: Trust His Kind and Gentle Heart for You (Matthew 11:30)

“30 For my yoke is easy, and my burden is light.” Matthew 11:30

How is Jesus’s yoke easy and his burden is light? The simple answer his Jesus carries you. He’s both the Master and the stronger animal. Let’s put verses 29-30 together and see how his yoke is easy.

Jesus’ yoke carries your burden.

Jesus says, “I am gentle and lowly in heart.” The word gentle can be translated “kind.” Jesus is kind toward you by making your burden light. He takes the weight of the law and it’s condemnation and he puts it on himself. There is therefore no condemnation for those who are in Christ Jesus (Romans 8:1). Furthermore, where the the Law of God will force you to your knees and scream at you to get up and try harder—Jesus kneels, lifts your burden, and carries you.

Jesus’ yoke is easy because His heart is lowly

Unlike the Pharisees who were proud , Jesus is lowly, meaning Jesus is humble, being unpretentious in his behavior. Where the Pharisees acted as morally superior and separated themselves from the people, Jesus humbled himself by taking in flesh and living among those whom he came to save (John 1:1-4, 14-15). Furthermore, he dedicated himself to turning your heart into his sanctuary, the place he inhabits, staying as close to you as possible so that his kindness can bear your burdens and walk alongside you. You have eternal access to Jesus’ kindness and humility.

Dane Ortlund poetically illustrates this point,

Gentle and Lowly: The Heart of Christ for Sinners and Sufferers Chapter 1: His Very Heart

What helium does to a balloon, Jesus’s yoke does to his followers. We are buoyed along in life by his endless gentleness and supremely accessible lowliness. He doesn’t simply meet us at our place of need; he lives in our place of need. Dane Ortlund

Jesus’s yoke is easy because gentle humility is at the center of Jesus’ heart

Jesus lives in us and with us and for us and he loves it. Ortlund noted that Charles Spurgeon points out in the four Gospel accounts given to us in Matthew, Mark, Luke, and John—eighty-nine chapters of biblical text—there’s only one place where Jesus tells us about his own heart: “for I am gentle and lowly in heart.”

Why is knowing Jesus’ heart so important to your rest?

Solomon says to us,

“23 Keep your heart with all vigilance, for from it flow the springs of life.” Proverbs 4:23

The heart is the centerpiece of your essence. It is the housing of all your affections and your reason for getting out of bed in the morning. Jesus says your heart will treasure what you pleasure. It will reveal what kind of man or woman you are. So, when Jesus says, “I am gentle and lowly at heart,” he is revealing something deeply personal about who he is as the Son of God, your Savior. Knowing the heart of Jesus might be the biggest message of this sermon.

When Jesus says, “I am gentle and lowly in heart,” He’s not offering a momentary glimpse into His character—He’s opening the window to His very heart. Kind and gentle toward sinners is who He is. It’s not what He has to be—it’s what He loves to be. His kindness and humility are not burdens to bear but joys to express. If you want to know what gets Jesus up in the morning, it’s this: extending mercy to sinners who come to Him weary and burdened. He delights to draw near to the broken and the repentant. This isn’t a side of Jesus. This is the center.

Jesus isn’t like us—reluctant in mercy, slow in grace, or easily exhausted by the flaws of others. No, He rejoices to welcome those who feel unworthy. He doesn’t recoil at your weakness. He doesn’t flinch at your failure. When He says, “Take my yoke upon you, and learn from me,” He’s not calling you into labor—He’s inviting you into His heart. He wants you to know what it’s like to walk with someone who is gentle, patient, and full of grace for your every stumble. He’s not tolerating you—He’s treasuring you.

Don’t miss the motive behind the Master’s invitation. When Jesus says, “Take my yoke upon you,” He is not placing you under harsh demands or driving you forward with a whip. He is not some cold taskmaster who sees you as little more than livestock to be used. That’s the lie our flesh and the enemy want us to believe—that Jesus is frustrated with us, disappointed in us, or barely tolerating us. But that is not the Jesus of Scripture.

The truth is, Jesus is gentle and humble in heart. He doesn’t yoke Himself to you to beat you into shape—He yokes Himself to you because He delights to walk beside you. Yes, He is your Master—but He is also your Friend. He knows your weaknesses, your stumbles, and your stubborn heart. And yet, He doesn’t let go. He doesn’t crack the whip. He doesn’t call you a lost cause. Instead, He lovingly says, “Come to me… and I will give you rest.”

So when you are weary from trying, ashamed of failing, or afraid you’ve fallen too far behind—remember who holds the other side of the yoke. Jesus isn’t dragging you—He’s walking with you. And He’s not walking in anger—He’s walking in love. His motive isn’t control; it’s compassion. His desire isn’t to condemn; it’s to carry. He is not looking to drive you away—He is longing to draw you near. That’s your Savior. That’s His heart. And that’s where your rest begins.

So when you come to Christ, don’t come cleaning yourself up, covering your blemishes, or hiding your regrets. Bring your sin. Bring your shame. Bring your tired, burdened soul—and know this: He will meet you not with judgment but with joy. His kindness is not on reserve—it’s on display. His humility is not behind a wall—it’s extended through an open door. Jesus doesn’t just allow sinners to come—He loves when sinners come. And when you do, He gives what your soul has longed for all along: rest. Real rest. The kind that only a gentle and lowly Savior can give.

Three Ways to Work from Rest

Lay Down the Burden of Religious Performance

Stop trying to earn God’s love through striving. You don’t carry your salvation—Jesus does. Come to Him. Confess your weariness. Rest in His finished work. J.D. Greer wisely remind us in his Book, “Gospel: Recovering the Power that Made Christianity Revolutionary,” to pray,

“In Christ, there is nothing I can do that would make You love me more, and nothing I have done that makes You love me less. Your presence and approval are all I need for everlasting joy. As You have been to me, so I will be to others. As I pray, I'll measure Your compassion by the cross and Your power by the resurrection.” ― JD Greear

Walk Daily with the Savior, Not Just Believe in Him

Discipleship is a lifelong journey, not a one-time decision. Learn from Him—through His Word, prayer, and obedience. His yoke is not a burden; it’s a blessing.

Trust the Christ to Carry it On

The Philippian church was feeling overwhelmed and discouraged in their faith, so Paul sent them a letter to encourage them to stay strong. One of his main encouragements was to remind them,

“being confident of this, that he who began a good work in you will carry it on to completion until the day of Christ Jesus.” (Philippians 1:6)

When your load feels overwhelming, remember who began the work, carries it with you, and will finish the work. He is gentle. He is near. He is strong. You are not alone.

Jesus invites the weary to Himself.

Jesus yokes us to Himself and teaches us how to live.

Jesus promises rest—soul-deep, grace-filled, everlasting rest.

What other Master invites you like this? What other King stoops low to lift you up? What other God becomes gentle, lowly, and accessible?

Come to Jesus. Take his yoke. Work from His rest, not for it.