The verses that make up the text of today are exclusive to Matthew. They are an invitation from Jesus to all those who are burdened. The burden referred to here is most likely the burden of religious obligation. This often became an obstacle in one’s path to God. While “yoke” generally meant obedience or even servitude, here the yoke is Jesus’ own yoke. Thus, this is not the yoke of the law; rather, it is the yoke that will deliver one from the artificial burdens of human religion. The “easy yoke” of Jesus is not an invitation to a life of ease but to a life of freedom. This is why it is important to “learn” from Jesus as a disciple learns from his/her teacher. This learning is not imitation but is learning from the revelation of God made visible in Jesus. When one recognizes who God really is, after learning from Jesus, one realizes that God is indeed a God who desires that all men and women be free and serve him only in freedom rather than from any external compulsion.
Jesus invites anyone who wishes to come to him to do so. No one is excluded. What are required are openness and a desire to see a new revelation of God. It is a revelation that only Jesus is competent to make because he alone knows the Father, as father, and reveals him as such. This revelation is of a God who will not burden people with sets of rules and regulations. It is a revelation of a God who is unconditional love and who can be recognized only when love abounds.