If you notice the order in the text, you will see that Jesus first speaks about rest and then about his yoke. In the Bible, rest means liberation. God’s people had been delivered from Egypt to enter the Promised Land—the rest (see e.g., 1 Kings 8:56; Hebrews 4:1–11). The rest of Jesus does not work like a sedative pill. Jesus brings you into the redemption, the grace, the love of his Father.
29 Prenez mon joug sur vous et recevez mes instructions, car je suis doux et humble de cœur; et vous trouverez le repos pour vos âmes.