Far from being a burden, the commands of God are meant to bring us life.  Pastor Ben Miller, in The Kingdom Has Drawn Near, illuminates:

I remember wrestling as a younger man with the whole “problem” of authority. I have concluded over the course of my life that I do have a problem with authority. I don’t like submission. I don’t like someone telling me what to do; and it frightens me sometimes to think about Jesus telling me what to do, because I imagine a gigantic code of laws – like the IRS code – that I must somehow figure out and put into practice, and it sounds as if I’m going to be shriveled and stifled. Do you ever think like this? If we think this way, it shows how little we really understand the commandments of Jesus. Far from shriveling and stifling life, Jesus’ commands are the portal to the rich, full, blessed life for which you and I were created. The law of Jesus is an expression to us of the loving, renovating grace of our God.