A new ox was often trained for plowing or drawing a cart by yoking him with an experienced ox. The yoke kept the young ox from "doing his own thing" and he soon learned obedience to his master. Likewise, we are to commit ourselves to being yoked to Jesus. The comparison ends at this point, though. Unlike the, sometimes, harsh treatment oxen are given to bring them into subjection, Jesus is "meek and lowly in heart," and wins us by love. Jesus pulls more than His "share" of the load; therefore, our burden is light.
The most loving father in the world cannot compare with the love our Heavenly Father has for us. And yet, many times we find it easier to believe in the willingness of a father or mother or mate to help us than in the willingness of God to use His power on our behalf. Very few people really doubt God's ability, but rather, it is our doubt of His willingness to use His ability on our behalf that causes most people to do without. Jesus assures us that God's love, and His willingness to demonstrate that love, is far greater than we can ever experience in any human relationship.
Not only does He want our love, but wants us to let Him love us.