Jesus is using a kind of irony, saying that the yoke laid on his disciples is a nonyoke. For it is a yoke of kindness.
Who could resist this? It’s like telling a drowning man that he must put on the burden of a life preserver only to hear him shout back, sputtering, “No way! Not me! This is hard enough, drowning here in these stormy waters. The last thing I need is the added burden of a life preserver around my body!”
Dane Ortlund - American Pastor