"Come to me, all you who labor and are burdened, and I will give you rest. Take my yoke upon you and learn from me, for I am meek and humble of heart; and you will find rest for your selves. For my yoke is easy, and my burden light." (Mt 11:28-30)
Jesus is speaking to a people who are over burdened. People were burdened with so many rules. In fact people were called to carry the yoke of Torah. Torah and the practices of the rules were so heavy for the people that they struggled through. That is why Jesus is saying that my yoke is easy.
However, this very same Jesus is the one who asked his followers to carry their daily cross and follow him. He is the one who said “anyone who does not hate his father or mother and come after me…”. So how can he say that my yoke is easy and my burden light?
The yoke of Jesus came from mercy and love. He talks about the inner self. From his inner self came mercy and love. This had no moral, emotional, physical burdens whatsoever. When people approach him with their problems, difficulties then he was not going to stand on their way with rules challenging their behaviours. He is going to receive them with love and mercy.