You are the Lord our God, who brought your people out of Egypt so that they would no longer be slaves; You broke the bars of their yoke and enabled them to walk with heads held high.
Leviticus 26.13

Come to me all you who are weary and carrying heavy burdens, and I will give you rest. Take my yoke upon you, and learn from me; for I am gentle and humble in heart, and you will find rest for your souls. For my yoke is easy and my burden is light.
Matthew 11.28-30