28 Come to Me, all you 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.
In the book of Hebrews we are told the children of Israel did not enter into the rest God had for them because they did not obey what God told them to do. The Bible calls this unbelief. Unbelief is when we hear what God’s Word says, but we choose not to do it. We instead choose to live life our own way. In doing so we are not taking His yoke upon us and learning from Him, and therefore we are going to be heavy laden in life as we are living life the way we want to.
But when we come to Jesus and get born again, and then come to the Word of God and learn of His ways and do them, we find rest for our souls. Our soul (our mind) needs to be renewed to learn God’s way to live life. This is how we take His yoke upon us. A yoke is what they put two animals in side by side to pull a cart or a plow. This made it much easier for each animal because they were not pulling alone. When we learn of His ways through His Word we are not trying to live life on our own, we are yoked up with Him, and it makes life a lot easier.
Walking in unbelief is based on living life according to the ways of man, but faith is based on the facts of God’s Word. Walk by faith, choosing to come to the Word of God and not questioning what He tells us do, but just doing what He says. When we do so then we will walk in His rest as we see our faith in God work for us. For when you walk by faith and not by sight, you have taken His yoke upon you and are therefore resting in God.