Whenever this Gospel comes along it forces you to stir up your imaginations. It pictures Jesus as a great old ox who has learned how to pull the plow without growing weary. Since he never shook off a command, he never felt frustration.
The yoke over his shoulder was actually half of a wooden harness made for two. Jesus is asking you to come slip under the other side of the yoke. The jobs waiting for you to tackle are actually his jobs too. Slip under the yoke with him and learn from him, for he is meek and humble of heart.