A burden is good, however it must be a healthy burden!
Jesus says "My yoke is easy to bear, and the burden I give you is light.” Mathew 11:28-30
Oxen yoked together - there is always a leader that does more of the work and holds the direction. Jesus is our leader doing the work and the one who holds the direction for our lives.
When you have the right fitting burden, you can feel rested when you work.