Rest with a yoke?

no

Matthew 11:28–30 (CJB)

28 “Come to me, all of you who are struggling and burdened, and I will give you rest. 29 Take my yoke upon you and learn from me, because I am gentle and humble in heart, and you will find rest for your souls. 30 For my yoke is easy, and my burden is light.”

Exodus 33:14

He answered, “Set your mind at rest—my presence will go with you, after all.”

Psalm 116:7

My soul, return to your rest! For Adonai has been generous toward you.

Jeremiah 6:16 NIV

This is what the Lord says: “Stand at the crossroads and look; ask for the ancient paths, ask where the good way is, and walk in it, and you will find rest for your souls. But you said, ‘We will not walk in it.’

Bible Jeremiah 31:25

For I have satisfied the weary and filled the needs of all in distress.”

Luke 11:46

Yeshua said, “Woe to you Torah experts too! You load people down with burdens they can hardly bear, and you won’t lift a finger to help them!

John 3:16–21

16 “For God so loved the world that he gave his only and unique Son, so that everyone who trusts in him may have eternal life, instead of being utterly destroyed. 17 For God did not send the Son into the world to judge the world, but rather so that through him, the world might be saved. 18 Those who trust in him are not judged; those who do not trust have been judged already, in that they have not trusted in the one who is God’s only and unique Son. 19 “Now this is the judgment: the light has come into the world, but people loved the darkness rather than the light. Why? Because their actions were wicked. 20 For everyone who does evil things hates the light and avoids it, so that his actions won’t be exposed. 21 But everyone who does what is true comes to the light, so that all may see that his actions are accomplished through God.”

John 6:35–37

35 Yeshua answered, “I am the bread which is life! Whoever comes to me will never go hungry, and whoever trusts in me will never be thirsty. 36 I told you that you have seen but still don’t trust. 37 Everyone the Father gives me will come to me, and whoever comes to me I will certainly not turn away.

John 8:12

12 Yeshua spoke to them again: “I am the light of the world; whoever follows me will never walk in darkness but will have the light which gives life.”

John 13:15

For I have set you an example, so that you may do as I have done to you.

Philippians 2:5

Let your attitude toward one another be governed by your being in union with the Messiah Yeshua:

1 Peter 2:21

Indeed, this is what you were called to; because the Messiah too suffered, on your behalf, leaving an example so that you should follow in his steps.

1 John 5:1–8

1 Everyone who believes that Yeshua is the Messiah has God as his father, and everyone who loves a father loves his offspring too. 2 Here is how we know that we love God’s children: when we love God, we also do what he commands. 3 For loving God means obeying his commands. Moreover, his commands are not burdensome, 4 because everything which has God as its Father overcomes the world. And this is what victoriously overcomes the world: our trust. 5 Who does overcome the world if not the person who believes that Yeshua is the Son of God? 6 He is the one who came by means of water and blood, Yeshua the Messiah—not with water only, but with the water and the blood. And the Spirit bears witness, because the Spirit is the truth. 7 There are three witnesses—8 the Spirit, the water and the blood—and these three are in agreement.