“Come to Me, all 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 comfortable, and My burden is light.” (Matt. 11:28-30)
When you read the teachings of Jesus throughout the synoptic gospels, does it sound like Jesus' yoke is comfortable and His burden light? Not in the least! Why is that? Well, for starters, Jesus was “born under the Law to redeem those under the Law” (Gal. 4:4-5). His teachings were difficult precisely due to the fact that He was increasing the weight of the Law upon the people in order to demonstrate the impossibility of being able to keep it perfectly so that they would become distressed and look for something better: grace. The "Sermon on the Mount," as it has come to be known as, is basically Moses 2.0 on steroids. No one survives it, and that is the point.
In speaking of a New Covenant, Yahweh God said, "I will put my laws into their minds, and write them on their hearts" (Hebrews 8:10b). Laws, plural; not Law, singular. This is not the 613 commands of the Law; this is not the “moral” Ten Commandments (of which only the last 6 have anything to do with morality, while ignoring commands against incest, homosexuality, bestiality, etc.), and this is not the two greatest commandments of the Law (as identified by Jesus). In John 13:34, Jesus gave us a new commandment (which was actually against the Law to do). The apostle John picks up this same idea in 1 John 3:23: “And this is His command: to believe in the name of His Son, Christ Jesus, and to love one another as He commanded us." To believe and to love are the laws written on the Christian’s heart. Love is the true fulfillment of the Law (Rom. 13:10) because love covers a multitude of sins (1 Pet. 4:8). Love is the Royal Law of the New Covenant in the Kingdom of God. The indwelling Holy Spirit is inspiring us to bear the fruit (singular) of the Spirit because "against such there is no law" (Gal. 5:23).
Truly, “His commandments are not burdensome” (1 John 5:3). Therefore, Jesus' yoke is comfortable and His burden is light. He will give us rest if we rest in His finished work and stop trying to finish our own.