Following the precepts of the Torah is considered a yoke because the Creation of heaven and earth is in the Torah. The upper worlds of Creation, Formation and Action came out of Malchut.
“אֵלֶּה תוֹלְדוֹת הַשָּׁמַיִם וְהָאָרֶץ, בְּהִבָּרְאָם: בְּיוֹם, עֲשׂוֹת יְהוָה אֱלֹהִים–אֶרֶץ וְשָׁמָיִם”
“This is the account of the heavens and the earth when they were created, in the day that YHVH God made earth and heaven.“
The word “בְּהִבָּרְאָם” “Were created” is also reads with H ה Created. The ה H is the lower H of the YHVH name the represents Malchut.
On Shabbat and Holidays Binah connects YHV יהו to the ה H of Malchut. This unification of upper and lower creates the aspect of freedom. This freedom is represented by the first word of the Ten Commandment, “I Am”, “אנכי”
“אָנֹכִי יְהוָה אֱלֹהֶיךָ, אֲשֶׁר הוֹצֵאתִיךָ מֵאֶרֶץ מִצְרַיִם מִבֵּית עֲבָדִים:”
“I am YHVH your God, who brought you out of the land of Egypt, out of the house of slavery.”
It is Binah that spread her wings to protect Malchut and give her rest from the Klipot that block the light.
“וְרָאוּ כָּל-עַמֵּי הָאָרֶץ, כִּי שֵׁם יְהוָה נִקְרָא עָלֶיךָ; וְיָרְאוּ, מִמֶּךָּ”
“And all the peoples of the earth will see that you are called by the name of YHVH, and they will be afraid of you.”
The ‘peoples of the earth’ is the aspect of the negative side that fear those who follow the precepts of the Torah like Shabbat, tefillin and holidays.
The archangel Metatron and his camps of angels are appointed on those who follow the Torah and precepts to receive rewards. They are called servants of YHVH.
Those who follow the Torah and precepts without expecting rewards are under Zeir Anpin and Malchut, YHVH and the Shechina. They are called sons of YHVH.