'Yoked' in the Bible

Then Joseph yoked his chariot, and went up to meet Israel his father, to Goshen, and he presented himself to him; and he fell on his neck, and wept on his neck a good while.

And he yoked his chariot, and took his people with him.

Be not diversely yoked with unbelievers; for what participation is there between righteousness and lawlessness? or what fellowship of light with darkness?