God does not want us to be their slaves. Who are they? It could be money, status, position, haunted past, life beyond the fear of God, free sex, alcohol, or illegal drugs. God has broken the yoke and wants us free so that we could walk upright and proud.
I am the Lord your God, who brought you out of Egypt so that you would no longer be slaves to the Egyptians; I broke the bars of your yoke and enabled you to walk with heads held high. (Leviticus 26:13)