Matthew 11:28

Come to me, all of you who are overworked and overburdened and I will give you rest [i.e., spiritual refreshment].

Hebrews 4:8-9

For if Joshua had given the Israelites rest, God would not have spoken about another day later on [i.e., "Today" in Psa. 95:7].

Treasury of Scripture Knowledge

Summary

Thus saith the LORD, The people which were left of the sword found grace in the wilderness; even Israel, when I went to cause him to rest.

Bible References

When

Matthew 11:28
Come to me, all of you who are overworked and overburdened and I will give you rest [i.e., spiritual refreshment].
Hebrews 4:8
For if Joshua had given the Israelites rest, God would not have spoken about another day later on [i.e., "Today" in Psa. 95:7].