The yoke referred to here is metaphorical. It signifies entering into a personal relationship with Jesus, being submitted to His authority, and becoming His disciple. In contrast to the yoke of the Mosaic law which kept men under it in bondage, Christ's yoke is easy - His precepts are easy to follow. The call to take Christ's yoke goes out to every living soul - it is a universal call to salvation. No one is excluded from accepting the invitation, but sadly, most who hear the call will reject it (CP Mt 13:3-11, 18-23).
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