The above verses are some of the most comforting in all of scripture. We all feel heavy laden from time to time. One beautiful aspect of life with Jesus is that his rest is not confined to a specific time or place. His yoke is easy and light all the time. He is, in fact, our Sabbath rest.
Much of life is full of busyness, stress, and toil. It's not all bad, but it does require a great deal of time and attention. We all need regular rest physically, mentally, emotionally, and spiritually. Life with Jesus provides all of these, but especially spiritual rest.
Rest in Christ, our Sabbath, is not designed to add more to our already busy plate. Rather, this rest is one that adds joy to our lives. Only true peace and rest come through Christ.
All man-made religions require work, work, and more work from their followers. Jesus Christ, on the other hand, desires that we simply rest in him. When this happens, we will also find that living according to his standards is pure joy.