“Come to Me, all you who are weary and burdened, and I will give you rest. Take My yoke upon you and learn from Me, for I am gentle and humble in heart, and you will find rest for your souls. For My yoke is easy and My burden is light.” Matthew 11:28–30
In the last study, The Call to Follow Jesus, we see how Jesus called disciples to follow, be transformed, and was given a purpose. After responding to Jesus’s call, the journey of discipleship becomes a lifelong classroom. Jesus does not simply lead us – He teaches us. His invitation, “Come to Me and learn from Me,” is an open door into rest, renewal, and transformation. In learning from Jesus, we discover not just information about God, but the heart of God Himself.
After explaining to the disciples is intimate relationship with the Father, Jesus extended this personal invitation to His followers. His words in Matthew 11:28–30 captured the essence of what it means to be a disciple. In this passage, we hear four distinct calls: the call to follow, the call to purpose, the call to relationship, and the call to renewal. Each describes a layer of discipleship that draws us deeper into what it means to follow Jesus.
He was not calling people into a religion, but into a relationship and transformation. His invitation is given to all who are weary and burdened, all who are exhausted, and all who were striving to fulfill their spiritual hunger. He didn’t offer a life of ease, but a life of faith and hope, found only in walking closely with Him. This is the Call to Learn from Jesus.
“Come to Me” – the Call to Follow
Jesus begins with an imperative: “Come to Me.” The Greek word (deute) can mean both “come” and “follow,” showing that the invitation is not simply to come near, but to join Him on a lifelong journey. This is the same word Jesus used when He called the fishermen by the Sea of Galilee, “Come, follow Me.” (Matt 4:19) The call is personal, urgent, and essential. Discipleship does not begin with what we do for God but with a response to the One who calls us.
Jesus invites the weary and burdened, not the wise, powerful, or self-sufficient. The weariness He refers to is more than physical fatigue. It includes the exhaustion of trying to meet impossible expectations, the weight of sin, the pressure of religion without relationship, and the burdens that life itself brings. Many in Jesus’ day were crushed under the demands of the Law and the endless rules of the Pharisees. Today, people still labor under similar weights such as guilt, anxiety, performance, and the false belief that we must earn God’s approval.
To such people, Jesus says, “Come, follow Me.” To step away from the world’s burdens and into His presence. This call demands a decision. Will we continue to soak in our sin and in our pride, striving to live life in our own strength? Or will we leave behind what drains the soul and walk toward the One who restores it.
“Take My Yoke Upon You” – the Call to Purpose
The next phrase, “Take My yoke upon you,” points to the purpose and direction of discipleship. A yoke was a wooden harness placed over two animals so they could share the same load. It symbolized partnership, submission, and shared labor. To take Jesus’ yoke means willingly submitting to His lordship, walking in step with Him, and joining His work in the world.
First, taking His yoke is a call to submission. It means acknowledging that Jesus is not only Savior but Master. Discipleship involves yielding to His authority and allowing Him to lead. Second, it is a call to work. A yoke was never ornamental; it signified that there was work to be done. But unlike the yoke of the Law, Jesus’ yoke is “easy.” Not because the work disappears, but because He shares the load. Finally, it is a call to companionship. Yokes were made for two. When we take on His yoke, we are yoked with Christ Himself. He walks beside us, carrying the greater weight, and promises, “Surely I am with you always, to the very end of the age” (Matt 28:20).
Discipleship is not a solo effort. It is learning to work alongside Jesus rather than striving apart from Him. When we walk in step with Him, His strength sustains us, and His peace steadies us. Even when life is demanding.
“Learn From Me” – the Call to Relationship
At the heart of this passage lies Jesus’ call to relationship. The word “learn” (manthanō) is the root of (mathētēs), the Greek word for “disciple.” To be a disciple, then, literally means to be “a learner.” But learning in the biblical sense is more than absorbing information, it is transformation through relationship.
Jesus invites us not merely to learn about Him, but to learn from Him. The preposition used here can mean both “of” and “from,” implying a twofold call. First, we must learn of Jesus, knowing who He is through Scripture, studying His life, teachings, and example. But then, we must learn from Jesus, experiencing His presence, hearing His voice, and allowing His Spirit to teach us daily.
This is only possible through the work of the Holy Spirit, who makes the living Christ known to us (John 14:26; 16:13–15). Discipleship, then, is not an exercise of learning but a relational journey. We learn best not by understanding the theory, but by walking alongside Jesus in obedience, surrender, and love. As we do, His gentleness and humility begin to shape our hearts.
“You will Find Rest for Your Souls” – the Call to Renew
“Jesus concludes His invitation with a promise: “You will find rest for your souls.” The rest He offers is not idleness or escape from responsibility. It is the deep, renewing rest that comes from grace. This rest is from no longer striving to earn what Christ has already secured.
The “old yoke” that Jesus removes is the yoke of the Law, the unbearable system of works-based righteousness that could never bring peace. In contrast, His yoke is “easy” (chrestos), which means “well-fitting” or “beneficial”. Therefore, his burden is “light” because the grace of Jesus fits us perfectly. It doesn’t chafe, crush, or confine; it enables us to walk freely and fruitfully.
When we exchange our burdens for His, we find rest not only for our minds but for our souls. The Greek word for “rest” (anapausis), conveys the image of refreshment and renewal, like water for the weary traveler. This rest is ongoing in that it grows as we walk with Him. Every act of surrender, every step of obedience, every moment spent in His presence renews our soul.
What this Means for Disciples Today
For followers of Jesus today, this passage continues to be a defining picture of true discipleship. It is an invitation to relationship over religion. Today, Jesus still calls the weary, the overworked, the spiritually restless, and the burned out. In Him we find renewed strength and purpose, looking to Jesus daily, taking His yoke willingly, and learning from Him. The path of discipleship is not always easy, but it is never traveled alone.
For followers of Christ, learning of and from Jesus means spending time in His Word and in prayer. The Bible is our primary source for knowing the nature of God, who Jesus is, what He has done for us, and what that means for our lives. It is also the standard by which all teaching and guidance must be tested, guarding us from error and deception. A disciple must dwell in the Word and allow the Word to dwell richly within them. Practically, this means that every disciple of Jesus should spend time daily in Scripture, letting it shape the heart and renew the mind.
Similarly, prayer is one of the primary ways we communicate with God. A true relationship is always two-way. God most often speaks to us through His Word, and we speak to Him through prayer. Without both, a disciple will be unbalanced and our relationship with Christ will grow distant.
When we take His yoke upon us, walking with Him daily, learning from him and renewing our souls, it becomes the rhythm of grace that transforms our lives and our hearts with purpose.
Learning from Jesus is not a temporary class; it’s a relationship that deepens over time. True disciples don’t just listen to His words; they stay close to His presence. Like branches connected to a vine, our growth and fruitfulness depend on remaining in Him. In the next teaching, Disciples Remain in Christ, we’ll explore what it means to abide in Christ and to live every day connected to His life, sustained by His Spirit, and bearing fruit that lasts
Questions for Reflection and Discussion
When you hear Jesus say, “Come to Me, all you who are weary and burdened,” what do you think He’s inviting us to do?
What kinds of burdens do you think Jesus was talking about. How do they show up in our lives today?
Jesus says, “Take My yoke upon you.”
What does it mean to be “yoked” with Christ? How does this picture help us understand both surrender and partnership in discipleship?
Learning from Jesus begins with humility.
How can we cultivate a teachable heart in a world that often values independence and self-sufficiency?
Jesus describes Himself as “gentle and humble in heart.”
Why is this description important? How does His gentleness challenge or encourage the way we relate to others as His disciples?
The study talked about Jesus’ yoke being easy and His burden light.
How does that align (or sometimes seem to conflict) with the challenges of following Him daily? What does it mean to find rest even in obedience?
To “learn from Jesus” means more than knowing information about Him. It means learning from Him.
What are some practical ways you can position yourself to learn directly from Jesus this week (through Scripture, prayer, community, etc.)?
Jesus promises, “You will find rest for your souls.”
What does soul rest look like for you personally? In what areas of life do you most need the rest Jesus offers right now?
My name is Michael Adkins. For several decades I’ve been studying Scripture, developing discipleship resources, and teaching others how to walk more closely with Christ. Currently, I serve as the Discipleship Pathway Leader at Riverside International Church in Cascais, Portugal, where my passion is helping believers grow into mature disciples who live out their faith in everyday life.