Boyd’s Bible Dictionary:
(join). This well-known means of coupling oxen for agricultural purposes was primitively laid upon the necks of the cattle, and held there by thongs which passed around their necks. A thong served also as an attachment to the cart-tongue or plow-beam. A pair of oxen yoked together were called a yoke, as today (1 Sam. 11:7; 1 Kings 19:21). It would seem as if asses and mules went by pairs like oxen (Judg. 19:10; 2 Kings 5:17), and even horses, camels, and chariots (Isa. 21:7). The word, like the Latin jugum, gave rise to a measurement of land (1 Sam. 14:14), the amount a yoke of oxen could plow in a day. Yoke is used metaphorically for subjection (1 Kings 12:4,9-11; Isa. 9:4; Jer. 5:5). An unusually heavy bondage was typed by “iron yoke” (Deut. 28:48; Jer. 28:13). Removal of the yoke implied deliverance (Gen. 27:40; Jer. 2:20; Matt. 11:29-30). Breaking of the yoke meant repudiation of authority (Nah. 1:13).
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Concise Bible Dictionary:
Women plowing near Hebron. Dec. 8, 1937
The harness that secures an animal to a cart or plow; and the beam to which two animals are fastened for any purpose of labor; it is also used to denote the number two, as “a yoke of oxen” (1 Sam. 11:7). It is employed as a symbol of servitude and slavery (Jer. 28:2-14; 1 Tim. 6:1). Also of the grievous bondage of being under the law (Acts 15:10; Gal. 5:1). The Lord Jesus invites the believer to take His yoke upon him, and to learn of Him; that is, giving up self-will, to be in submission to the will of God, content to be in the lowest place; and such will find rest to their souls. His yoke is easy, and His burden is light (Matt. 11:29-30).
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Strong’s Dictionary of Greek Words:
Meaning:
from the same as 2218; a couple, i.e. a team (of oxen yoked together) or brace (of birds tied together)