Inner peace means being mentally and spiritually at peace, with enough knowledge and understanding to keep oneself strong in the face of discord or stress. Peace of mind is generally associated with bliss (joy), happiness and contentment. Being at peace is the exact opposite of being stressed or anxious.
Taking Jesus’ yoke upon ourselves is simply allowing Him to come into our lives. When we do, He will give us rest for our souls. I liken it to a mother beckoning her child to come and sit on her lap. A child in a mother’s loving arms knows he is safe and all is well.
If we’re weary and burdened, we need to climb into the lap of Jesus, and let Him wrap His loving arms around us. Yes, it is that simple.
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. Matthew 11:29