God's image is reflected in us as we are in relationship with one another. The desire to possess is always at war with our souls, which desire relationships rather than things. People who know they are loved are released for life and relationships. God wants our prayers. God wants and needs our love.
Great love needs love in return.
But Jesus looks at our capacities rather than our difficulties. Sometimes we doubt our capacities, but Jesus doesn't. In our relationship with Christ, we don't need to pretend we are strong. Since God knows how difficult it is for us to pray, the Holy Sprit is there for us, to pray in us, to give us the desire to search again and again for God. A yoke is something that joins together the energy of two oxen.