Satan is the slave driver. Learning to lean (be led) as opposed to being driven by the enemies cracking whip takes practice. We don't automatically rest 24-7. Many believers have a hard time resting at all. I used to be there. While I most certainly haven't arrived, it's gotten much better.
That is why I believe God (El in the Hebrew) placed the Sabbath in the Ten Commandments. In order to love him and other people, we need instruction and practice in how to do so. Sabbath in the Hebrew means "return to the Covenant." It's a day to deal with any sin from the past week and commit to serving him in the coming week. We fellowship with other believers and renew our marriage vows together. This allows us to enter into his rest.
NOT DRIVEN BUT LED
Not driven,
By the slave driver,
The master con artist,
A liar and thief,
Expert condemner,
Guilt trip producer,
Accuser,
Loves tormenting you,
Stealing your peace,
Not letting you rest,
Burning you out,
But led by the Savior,
The good Shepherd,
The gentle Master,
Into green pastures,
Besides still waters,
Always encouraging,
Instructing his sheep,
Desiring intimacy,
Ever deepening relationship,
Experience born trust,
Experience born trust,
His sheep knowing his voice,
Not being deceived by Satan,
Obeying his whip’s crack,
But knowing full salvation,
Setting free,
Wholeness!