The Old Testament foretold that the Messiah would be humble and gentle (Zechariah 9:9). Matthew 11:29 shows that whoever takes the words of Jesus to heart will find the rest of the kingdom. The wording here strongly echoes Jeremiah 6:16. The Old Testament often describes God as gracious, kind, and helpful (Psalm 25:8; Psalm 34:9; and others), and Jesus takes this as a description of himself. Matthew 11:29 shows the need to truly know Jesus. When you do, you will know him as both gentle and lowly in heart, in his giving rest to all who come to him. As Lord of heaven and earth, to whom all things have been entrusted, he could act proudly toward us, but he comes to Israel as a simple and humble man. The Jews actually take offence to this and use it as a reason not to come to him, but they learn that he is mild toward some, but not to the haughty. He makes it his business to give rest to the weary.
Already in the Old Testament it had been foretold that the Messiah would be humble and gentle (Zechariah 9:9). Here in Matthew 11:29, we learn that whoever takes the words of Jesus to heart will find the rest and peace of the kingdom of God. The wording here strongly recalls that of Jeremiah 6:16. Throughout the Old Testament God is described as gracious, kind, and helpful (Psalm 25:8; Psalm 34:9, among others). We see here how this very characteristic is also manifested in the Messiah.1
Matthew 11:29 highlights the need to truly know Jesus. Once you do, you will experience that he is not only gentle, but also lowly in heart, in that he gives rest to the people who come to him. As Lord of heaven and earth, to whom all things have been entrusted, he has cause to act strictly and from on high toward us. But it becomes apparent now that God’s Son comes to Israel as a simple and humble man. The Jews actually take offence to this and use it as a reason not to come to him. Yet now they learn that he is mild toward others and not to the haughty. He takes action. He makes it his business to give rest to people who labour and toil.2
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.