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Yoke is easy - a Christian perspective
The "burden" of following Jesus is, ironically, much easier to bear than the supposed freedom of live in sin.
http://biblegateway.com/passage/?search=Matthew%2011:29-30&version=NIV
"Yoke" in the Bible: Matthew 11:28-30
Christianity has an unfortunate reputation for burdening people with moral guilt and long lists of rules and laws to follow. But this couldn't be further from the truth: as Jesus himself says here, taking up the "burden" of Christ is much simpler and easier than struggling under the weight of sin and worldly concerns.
http://biblegateway.com/passage/?search=Matthew%2011:28-30&version=NIV
Learn - a Christian perspective
Jesus' challenge to us is to follow him and learn from him. The Christian life is a process of learning, growing, and maturing in the faith--while our salvation is guaranteed the moment we trust in Jesus, we are called to continue to grow in faith through the rest of our lives.
http://biblegateway.com/passage/?search=Matthew%2011:29&version=NIV