Take  - (WW) "Take" is translated from a Greek word means "to raise up," "to elevate," "to take up and carry," and "to elevate." It can mean "exalt," as we would use praise, or "to rear" as in raising a child. It can also mean "to take away" or "to carry off." It doesn't mean "take" nor is it normally translated that way in the NT. 

my -- "My" is the first-person possessive singular pronoun. This pronoun follows the noun so "of mine." The "my" here can mean either a yoke that is worn by Jesus owned by another or owned by Jesus.

missing "the"  -- (MW) The untranslated word is the Greek definite article, which usually precedes a noun and, without a noun, takes the meaning of "the one." The Greek article is much closer to our demonstrative pronouns ("this," "that," "these," "those"). See this article for more. 

yoke  - The Greek word for "yoke" describes the yoke that holds an ox or horse to a plow or carriage, but it was also a metaphor for slavery and the beam in a balancing scale. It is introduced by an article so "this yoke of mine." See this article about how the Greek "the" is more like "this" or "that" in English. "Yoke" indicates servitude, it can either mean the servitude of Christ to God or the servitude to Christ.

upon  - The word translated as "upon" means with an accusative object, "upon" or "on to a height," "up to," "as far as," "a little way," "a little," "towards," "to," in hostile sense: "against," of extension: "over," "over (a space)," of time: "for," "during," "up to" or "till," in a causal sense: "of (the object)," for (this purpose)," "as regards," "according to," and "by (this cause)."

you, -- The "you" here is the second-person, plural pronoun in the form of an object.

missing "and"  -- (MW) The untranslated word is "and" used as the conjunction "and," but it also is used to add emphasis ("also").

Let  -- (IW) There is nothing that can be translated as "let" in the Greek source form of the verb.

missing "from"  -- (MW) The untranslated word  means "from" in both locations and when referring to a source or a cause. It also means the instrument "by" which a thing is done and "away from." It doesn't mean "about me" but "from me" here,

me --  "Me" is the regular first-person pronoun in Greek in the possessive form, so "my" or "of me."

teach   - (WW) "Learn" is a word that means "to learn especially by experience or study." It is not a common word for Jesus, but it is the verb form of the noun used to describe his students.

you, -- (IW) There is nothing that can be translated as "you" in the Greek source form of the verb. "You" was the subject of the verb "learn."

because- The word translated as "because" introduces a statement of fact or cause. We would commonly say "because."

I -- This is from the first-person, singular form of the verb.

am -- The verb "is" here is the common form of "to be" in Greek. It means to have a certain characteristic or remain in a certain condition. It also equates terms or assigns characteristics.

humble - "Humble " if from a word that means "mild," "soft," "gentle," and "meek." When addressed to an individual (i.e. "gentle one") it is a term of affection. This is the word Jesus uses in Matthew 5:5 Blessed [are] the meek...

and  - The conjunction usually translated as "and" appears here.

 gentle -  (CW) The word translated as "gentle " is usually a derogative term describing many forms of weakness. Here, it is clearly self-deprecating. It means "low," "submissive," "small," "poor," and "downcast." Jesus only uses this word once, here.  This is not the "poor" Jesus uses in the beatitudes.

at -- This word "in" comes from the dative case of "heart" that requires the addition of a preposition in English. The most common is a "to" for the English indirect object. However, the translator can choose other prepositions: "with,"  "in,"   "of,"  "as," "by," "for," "at," or "on" depending on the context.

heart:  - The word means "heart," but which was in Greek, as in English, the seat of the emotions and feelings but the higher emotions, especially bravery and pride. It is not in the possessive form here ("of heart"). The form matches the subject so Christ is saying literally, "I am the heart." It is introduced by an article ("the"), which, in Greek works more like "this" or "that" in English,

and   - The conjunction usually translated as "and" appears here. 

you -- This is from the second-person, plural form of the verb.

will -- This helping verb "will " indicates that the verb is the future tense. Helping or auxiliary verbs are needed to translate the Greek verb forms into English.

find  - The term used for "find" is the source of our word, "heuristic," meaning enabling a person to find out something for themselves. It means "find out" and "discover."

rest  - "Rest" is  a Greek noun that means "rest," "repose," "relaxation," and "recreation." It is a compound word meaning a "pause between," what we describe as a "work break," but here, because the context is "breath" (see below). This is the noun form of the verb in the previous verses.

for -- This word "for" comes from the dative case of the following "soul" that requires the addition of a preposition in English. The most common is a "to" for the English indirect object. However, the translator can choose other prepositions: "with,"  "in,"   "of,"  "as," "by," "for," "at," or "on" depending on the context.

your -- The word translated as "your" is a plural, second-person pronoun in the genitive case. This pronoun follows the noun so "of yours."

missing "the"  -- (MW) The untranslated word is the Greek definite article, which usually precedes a noun and, without a noun, takes the meaning of "the one." The Greek article is much closer to our demonstrative pronouns ("this," "that," "these," "those"). See this article for more. 

souls.  - (CW) The word translated here as "souls" is from psyche, means literally "breath" but it is a common word in Greek meaning "life," "soul," "consciousness," and "a sense of self." Christ uses it to mean primary "spirit" or "mind" where "mind" is contrasted with "body." This Greek word is our source of the English word "psyche." More about Christ's use of this word and related words here. It is introduced by an article so "the awareness" or "that awareness." The form here is an indirect object which can be used to describe what something benefits.