We ought to look at rest for what it is: a blessing from God to fit us for heaven. We need to remember this whenever we may be tempted to bristle at the idea of resting. God is preparing us for an eternity with Him in His presence, one in which we will be perfectly resting and perfectly working at the same time forevermore.
I find it fascinating that all of the blessings Jesus secured for the believer in and through His mediatorial work—including, most especially, heaven itself—are frequently depicted in the Bible in terms of rest. This is overwhelmingly the case in Hebrews 4, for instance, when the apostle speaks of heaven in terms of “entering [God’s] rest” (v. 1) and then exhorts Christians in his own day to “strive to enter that rest” (v. 11) by believing in the Lord rather than disobeying Him and, thus, “failing to reach it” (v. 1). The apostle’s ongoing reference to Psalm 95 (Heb. 3:7-11; 4:3, 5, 7) and his explicit mention of both Moses (3:16) and Joshua (4:8) indicate that this rest was foreshadowed and typified in the land of Canaan (see especially 4:8-9). But it was also foreshadowed and typified in the system of “sabbaths” that God instituted beginning with His own resting after He had finished the work of creation. Thus heaven is also referred to as a “Sabbath rest for the people of God,” one in which we rest from our works in the same way “as God did from his” (4:9-10).
In referring to heaven as rest that is typified in the land of Canaan, the apostle is teaching us that the promised land was designed to point God’s people to and prepare them for heaven. It was never intended as an end in itself. That much is obvious in the fact that we are told Moses and Joshua were unable to give God’s people permanent rest on earth (Heb. 4:8). They could only provide a temporary respite, because it was only in the heavenly “promised land”—of which Canaan was a type—that the people could receive lasting rest. So while the rest provided by the earthly promised land was not an end in itself for the people of Israel, it was, nevertheless, intended as a means to prepare them for their ultimate end, which was heaven. The rest they enjoyed in Canaan whet their appetites for more, for better, and for more extensive rest in heaven. It gave them a sample taste, an hors d’ouvre if you will, that set the stage for the main course.
In referring to heaven as a “Sabbath rest” that is typified in the system of sabbaths given to Israel, the apostle is teaching us that the purpose for the sabbath principle was to prepare God’s people for a rest that will be permanent and lasting. The system of sabbaths called them to live eschatologically, with their eyes on the last day. Each week they were reminded that they were heading toward an eternal and superior rest in the presence of the Lord.