Yes, Christ is our sabbath rest. He is marvelously our Redeemer, Savior, Lord, Prophet, Priest, King and many, many other things.
We rest in Him for salvation alone, as Hebrews 3-4 says.
But this is not the same thing as the fourth commandment. The "rest" there is from the ordinary pursuit of work and entertaining ourselves that are lawful, even required on the other days (in fact part of the fourth commandment is to labor the rest of the time). The resting involves thought, word and deed so that one prioritizes worship of God- corporate, family and personal, and ceases from the ordinary routines of life.
The most difficult part is not thinking or talking about for example, our work. If our minds and words are not directed toward worship, we are not really directed toward worship at all, merely rationalizing the fact we do not want to. In our old nature, we resent "giving over" time to our Creator because we really think it is ours. It is for our own use 24/7 and we resent God's imposition. We think something like,
"God has no right to deny my thoughts and words about making my living or to prevent me from doing work at home to catch up. God has no right to tell me not to play football and frisbee today. Further, God has no right to require my worship in thought word and deed for an entire day."
We all struggle with this and God uses this to reveal both our own sin in not really wanting to obey Him or have Him own us and His marvelous grace. He provides ability to keep it when we think we cannot. He gives us faith to believe we can and that His promises of blessing for obedience are indeed true.
"Legalism" really has nothing to do with this. The commandment has practical implications that regularly affect our life pattern. It means we ought not work, or talk about work or find ourselves meditating on our work. This is very difficult, and so when someone starts talking about the Super Bowl Monday morning (many of us have done this), it's not legalism to recall, "Remember the sabbath day, to keep it holy..."
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