# Take my yoke on you

Jesus speaks about submitting to him and obeying him as if it were like wearing the yoke that a work animal wears so it can pull a heavy load. Alternate translation: "wear the yoke that I put on you" or 

# I am meek and lowly in heart

"I am gentle and humble" 

# you will find rest for your souls

Here "soul" refers to the entire person. Alternate translation: "you will find rest for yourselves" or "you will be able to rest"