Matthew 11:28-30 (NKJV)
Come to Me, all you 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."
Jesus is amazing, on the one hand he says that He is the only way, the only solution. If someone were to say the kinds of things Jesus said about himself today you would say he was an egotistical maniac. But then Jesus says that he is gentle and lowly in heart, and somehow you agree with this statement too. He is at once mighty and humble. That is because he is both God and man. He is the God-man, Emanuel, God with us.
Jesus just says, "Come to Me." He doesn't speak of any difficult requirements to find the rest he speaks of. No doubt we are to serve Him but He says that burden is easy and light. Notice that it is His yoke and not yours. He is carrying it. We are like the little child who wants to help his father carry the heavy load. The father picks it up in the middle bearing most of the weight and allows the child to "carry" one end. If you find it difficult then something is wrong. Could it be that you are carrying a yoke of your own choosing rather than the one Jesus is asking you to carry?