In telling you to take his yoke upon you, Jesus was comparing himself to an old ox with one bow of a double-bowed yoke over his shoulders, and the other one waiting for you to slip under. (Yoke is an Indo-European word meaning to join.)
A farmer with two oxen pulling his plow or wagon, will pair a young ox with an old one who can teach the young one how to pull without growing weary. Jesus, by not resisting the Father’s will shows you how to get through your days in the same way.
Let’s sing Isaiah’s song
You who dwell in the shelter of the Lord
Who abide in His shadow for life
Say to the Lord "My refuge,
my rock in whom I trust!"
And He will raise you up on eagles' wings
Bear you on the breath of dawn
Make you to shine like the sun
And hold you in the palm of His hand.
The snare of the fowler will never capture you,
And famine will bring you no fear,
Under His wings your refuge,
His faithfulness your shield.
You need not fear the terror of the night,
Nor the arrow that flies by day.
Though thousands fall about you,
It shall not come near you.