Fast forward to 7:30 in the video to start the beginning of the teaching.
The Rest of Jesus (Matthew 11:28-30)
In Matthew 11:28-30 we read these amazing words of Jesus: "Come to me, all 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." What a glorious invitation! Invitations to great events or from remarkable people are treasured - and in these words God's Son bids us to come to Him. It is an invitation to be with Him, to be loved as His treasured possession. Do we slow down long enough to hear and accept the invitation, and to go to Him?
Notice first to whom this invitation is given: to the weary, the burdened, the anxious, the troubled - "all who labor and are heavy laden." Which of us does not qualify? All who feel upon our hearts the load, the weight of our own selfishness, our own pride, our own grieving of God, are invited to come. All who feel the load of the world's suffering and grief, the anxiousness of unknown days to come, the weight of a long standing unabating sorrow, the weight of our longings for the not-yet of God's providences, are invited to come. We who know these things in the depths of our heart are bid by the Son of God to fall upon His breast.
See secondly the promise to obtain: rest. Jesus declares, "I will give you rest...you will find rest for your souls." What a priceless promise and gift laid out for us! It is an ark of refuge for the weary, like Noah's ark for the dove. The Lord Jesus is our ark, our refuge, our rest. He promises us the rest of a real, personal, intimate, divine friendship of redeeming affection. He promises to love us utterly and unalterably!
Observe thirdly the means of the promised rest: we must take Jesus' yoke upon ourselves and learn of Him. Every other yoke about your heart - the lesser loves we foolishly crave - will make you even more weary. But Christ's yoke of free grace restores, enlivens, and lifts up. He calls us to yield our souls to His character and righteousness. His yoke is always in our favor and for our good.
Finally, note the way in which Jesus woos us to Himself: "For I am gentle and lowly in heart." How slow we are to believe this about our Savior! He who is the Sovereign King, is also gentle and humble of heart. This is the only place in Scripture where the "heart" of Christ is actually mentioned - and it is a gentle and a lowly heart.
So the question is before you: are you coming to Jesus for rest? Take heart, weary believer! Whoever comes to Jesus, He will in no way cast you out (John 6:37)! Come to Him this day and find rest for your souls!