When I read this passage in Hebrews, I am reminded of what Jesus promised us if we would listen and obey Him.
28 “Come to me, all who are tired from carrying heavy loads, and I will give you rest.29 Place my yoke over your shoulders, and learn from me, because I am gentle and humble. Then you will find rest for yourselves 30 because my yoke is easy and my burden is light.”–Matthew 11:28-30 (GW)
If we accept Jesus as our Savior and Lord, He will help us carry our burdens and we find that those things we once considered heavy and burdensome are not a load at all. What Jesus wants us to learn from Him is that He wants to fight our battles for us. If we allow Him to do that, then we will find the peace He promised us and we can have a little, tiny bit of heaven right here on earth. The place of rest is abiding in Jesus Christ. Abide with Him, dine with Him, worship Him, praise Him and rejoice with Him in the victories!