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Three of the most pleasant and reassuring verses in the gospels.
Perhaps something of the nature of the “learning” that Jesus wants us to receive from him (“learn from me”) can be discerned in the fact that the Greek imperative verb “learn!” used here (mathete/μάθετε) derives from the same root as the Greek word “disciples” (mathetai/μαθηταὶ), as in Matthew 12:1, which follows immediately.