In Matthew 11, Jesus points out the impossible expectations of the religious culture of the day:

“But to what shall I liken this generation? It is like children sitting in the marketplaces and calling to their companions, and saying: ‘We played the flute for you, And you did not dance; We mourned to you, And you did not lament.’ For John came neither eating nor drinking, and they say, ‘He has a demon.’ The Son of Man came eating and drinking, and they say, ‘Look, a glutton and a winebibber, a friend of tax collectors and sinners!’” (Matthew 11:16-19a NKJV)

Describing such attitudes of the scribes and Pharisees, Jesus said, “For they bind heavy burdens, hard to bear, and lay them on men’s shoulders; but they themselves will not move them with one of their fingers.” (Matthew 23:4 NKJV)

By contrast, in Matthew 11:28, Jesus offers a different burden:

“Come to Me, all you who labor and are heavy laden, and I will give you rest. Take My yoke upon you and learn from Me, for I am gentle and lowly in heart, and you will find rest for your souls. For My yoke is easy and My burden is light.”

Notice that He didn’t say, “Come to me, and I will relieve you of all burdens and responsibilities. I will break off your yoke so that you can live as you want to, with no one telling you what to do.” He does, however, offer rest to the heavy-laden. While He offers a burden, He promises that it will be light. A burden? Light? Isn’t that a contradiction of terms? Perhaps His burden can be light, because He offers to share it. He didn’t say that your yoke won’t be too bad, but “My yoke is easy.” That is, His yoke will be on His shoulders and upon yours. I’m guessing that He is willing and able to bear the greater part of the burden.