In the original Greek, the word for "yoke" is zygos(from the root of zeugnumi, meaning to join, especially by a "yoke"). It is found in 6 places in the New Testament(Matthew 11:29,30: Acts 15:10; Galatians 5:1; 1 Timothy 6:1; Revelation 6:5). Interestingly, the word zygote-used in the terminology of reproductive science-derives from this Greek word. It is defined as "a diploid cell resulting from the FUSION OF TWO haploid gametes; A FERTILIZED OVUM."
Now, think about that for a moment: a "fertilized ovum" = a "fertilized egg" = the beginning of the life of a new individual person. In other words, "two (individual) haploid gametes" are joined so intimately that they become one. Thus, we find in this word "yoke" a direct link to the essence of marriage as defined by Jesus Christ himself: "For this cause shall a man leave father and mother, and shall cleave to his wife and they twain shall be one flesh. Wherefore they are NO MORE TWAIN, BUT ONE FLESH. What therefore GOD HATH JOINED TOGETHER let not man put asunder." (Matthew 19:5-6)
In the late 4th century, Jerome translated the entire Bible(Hebrew OT = Greek NT) into Latin- commonly referred to as the Vulgate(meaning "commonly used") edition. It is interesting to note that Jerome used the word jugum to translate the Greek word zygos. The word jugum is not only the Latin equivalent of "a yoke" (used with cattle) but it carries also the spiritual connection with marriage. Our English word "conjugal" (as in "conjugal(ie-sexual, spousal) relations") derives from the Latin prefix "con-" (= "together") + Latin jugum(="yoke")
So, when Jesus says "take my yoke upon you," He is actually inviting us into a relationship of total intimacy with Him-a marriage, if you will-in which He and His Bride are united as one (body & spirit!) for the express purpose of bearing fruit for the glory of God, "Wherefore, my brethren, you also are become dead to the law by the Body of Christ, that you should be MARRIED TO ANOTHER, even to Him who is raised from the dead, that we should BRING FORTH FRUIT UNTO GOD" (Romans 7:4)