You have no doubt met a man working away unsuccessfully at resting in the Lord. He is wound tight, fidgety on his good days, frantic on his bad ones. There is nothing wrong with telling such a man to rest in the Lord. But it is quite humorous to first see and then inform him that, whatever troubles he has with resting in the LORD, the LORD apparently has no trouble resting on him.

“For the LORD hath chosen Zion; he hath desired it for his habitation. This is my rest for ever: here will I dwell” (v. 13).

We rest in God, for He rested on us first. You can put your feet on your own footstool because He rests His feet on you, “The heaven is my throne, and the earth is my footstool” (Isaiah 66:1)