If we take the yoke of Jesus upon us, we will find rest for our soul  -  Matthew 11:29-30

Take my yoke upon you, and learn of me; for I am meek and lowly in heart: and ye shall find rest unto your souls. For my yoke is easy, and my burden is light.

This statement by Jesus promises that we can have rest for our soul, if we take His yoke upon us and learn of Him. To take His yoke upon us means to submit to His will and to turn over control of our life to Him. To learn of Him is to allow Him to train us in all of His ways. Only when we submit to Him in both of these areas, will we ever experience the rest our soul desires.