But some of the sect of the Pharisees who had believed stood up, saying, It is necessary to circumcise them and to direct them to observe the Law of Moses. (Acts 15:5)
Now therefore why do you put God to the test by placing upon the neck of the disciples a yoke which neither our fathers nor we have been able to bear? But we believe that we are saved through the grace of the Lord Jesus, in the same way as they also are. (Acts 15:10-11)
For My yoke is easy and My burden is light. (Matthew 11:30)
You see in Acts 15 that forcing people to live under the burden of the Law is equated with putting God to the test. This passage says that the Law was a burden too great for the Jews to bear. How can Jesus's burden be the same if He said His burden was light?
Why the Law then? It was added because of transgressions, having been ordained through angels by the agency of a mediator, until the seed would come to whom the promise had been made. Now a mediator is not for one party only; whereas God is only one. Is the Law then contrary to the promises of God? May it never be! For if a law had been given which was able to impart life, then righteousness would indeed have been based on law. But the Scripture has shut up everyone under sin, so that the promise by faith in Jesus Christ might be given to those who believe. But before faith came, we were kept in custody under the law, being shut up to the faith which was later to be revealed. Therefore the Law has become our tutor to lead us to Christ, so that we may be justified by faith. But now that faith has come, we are no longer under a tutor. (Galatians 3:19-25)
This tells the purpose of the Law for us, and also explicitly states that we are no longer under it.
But now we have been released from the Law, having died to that by which we were bound, so that we serve in newness of the Spirit and not in oldness of the letter. (Romans 7:6)
Can't get much clearer than that.