But His gentle spirit clarified it for me. Satan's yoke is cumbersome and heavy. One that will chain us and pull us back from reaching etarnal life. It is a yoke were he entangles us in sin and accuses us day and night. A yoke that puts the burden of guilt and fear.
But the yoke that Jesus talks about is a yoke that is just for guiding us. Left on our own we stray from the ways of God, but God's yoke will lead us on the right path. As though He already anticipated this question Jesus says in Matthew 11:30 : "For my yoke is easy and my burden is light."
Another thing to consider is that Satan wants us to think we can merit our salvation. That we can work our way into heaven and this led those of the Old Covenant to try to fulfill the letter of the law. But God even tried to tell them He wants mercy not sacrifice.
Hos 6:6 For I desired mercy, and not sacrifice; and the knowledge of God more than burnt offerings.
But in the New Covenant Jesus teach us the same thing more clearly when He says that love fulfills all the law and the prophets.
Matt 5:17 Think not that I am come to destroy the law, or the prophets: I am not come to destroy, but to fulfil.
Mat 22:37-40 Jesus said unto him, Thou shalt love the Lord thy God with all thy heart, and with all thy soul, and with all thy mind. This is the first and great commandment. And the second is like unto it, Thou shalt love thy neighbour as thyself. On these two commandments hang all the law and the prophets.
Paul taught us that same message of course since it is from the same Holy Spirit.
Gal 5:14 For all the law is fulfilled in one word, even in this; Thou shalt love thy neighbour as thyself.
He went on to make it ever so clear when he pointed out that the letter was death and the spirit is life.
2Co 3:6 Who also hath made us able ministers of the new testament; not of the letter, but of the spirit: for the letter killeth, but the spirit giveth life.
So I see Satan's yoke as trying to convince us that we can merit salvation through fulfilling the letter of the law - which is of course heavy or impossible; while Christ's yoke is simply to love God and one another as a fulfillment of the spirit of the law - which is easy once we accept the grace of God which He free gives us.