'Yoke' in the Bible

And truly my ears are open to the cry of the children of Israel whom the Egyptians keep under their yoke; and I have kept in mind my agreement.

Say then to the children of Israel, I am Yahweh, and I will take you out from under the yoke of the Egyptians, and make you safe from their power, and will make you free by the strength of my arm after great punishments.

And I will take you to be my people and I will be your God; and you will be certain that I am the Lord your God, who takes you out from under the yoke of the Egyptians.

And Jethro said, Praise be to the Lord, who has taken you out of the hand of Pharaoh and out of the hand of the Egyptians; freeing the people from the yoke of the Egyptians.