Jesus commanded all to come to Him. He also told us that we cannot come to Him. Did He contradict Himself?

Jesus in Matthew 11:28-30 gives a command for all to come to Him so that He may provide them rest. He also declares in John 6:44 that no one can come to Him unless that Father who sent Me draws us. These verses on the surface appear to contradict each other. How do we harmonize these truths and keep them in their proper tension? This episode attempts to provide the answer.