In this verse, the argument that was started at the beginning of chapter 4 is concluded. A key point here is that those who wish to receive the ultimate blessings of God, which is our spiritual inheritance, may only acquire this rest by following a particular path. As stated in this verse, those who enter the "rest" provided by God are those who have completed the work given to them by Him.
Jesus is seated at the right hand of the Father, resting after having completed the work He began on the Cross. Those who are in Christ are seated with Him in heavenly places. All those who are in Christ can also enter into His rest through faith, simply by resting on His Word and standing on God's promises. By faithfully relying on Jesus and not our own strength, by choosing to trust Him moment by moment, by faith, we can enter into the sweet rest He offers.
It is time for us to boldly approach the throne of grace and lay down all that hinders us from entering His Sabbath rest. In trusting Him to keep us in perfect peace, we can find the only rest that can be found in Jesus. Even though we are still living in this world, our rest is in Him. We rest in His Word, and we rest in His promises.

Dear Heavenly Father, You are the source of true rest for us. Often, we find that the places we search for rest do not really deliver what they promise. Thank you for providing me with rest in Christ Jesus. It is easy for me to forget that resting in Him simply means appropriating Your Word and accepting the precious promises You have made to me. As I trust my life into Your hands and rely on the Word of truth, I pray that I may rest in Jesus day by day. 
In Jesus's name I pray. Amen.