by " us" you mean Israel , because God gave them the Law and Sabbath in a covenant . you cannot simply take the Law out of the Covenant . they are one.
Heb 8:10 For this is the covenant that I will make with the house of Israel after those days, saith the Lord;
I will put my laws into their mind, and write them in their hearts: and I will be to them a God, and they shall be to me a people:
God gave the Sabbath long before the law was given in Exodus. In the new covenant God will write the law on our hearts and in our minds..
Us = all that want to avoid sin.
Rom 7:7 What shall we say then? Is the law sin? God forbid. Nay, I had not known sin, but by the law: for I had not known lust, except the law had said, Thou shalt not covet.
Rom 7:8 But sin, taking occasion by the commandment, wrought in me all manner of concupiscence.
For without the law sin was dead.
Rom 7:12 Wherefore the law is holy, and the commandment holy, and just, and good.
Rom 7:22 For I delight in the law of God after the inward man:
Mat 5:17 Think not that I am come to destroy the law, or the prophets: I am not come to destroy, but to fulfil.
Mat 5:18 For verily I say unto you, Till heaven and earth pass, one jot or one tittle shall in no wise pass from the law, till all be fulfilled.
You can keep saying it is only for the Jews but that is just a way of stopping sin from being known or revealed. How happy is your flesh when the law that reveals sin does not apply to you therefore does not convict you.
Rom 7:9 For I was alive without the law once: but when the commandment came, sin revived, and I died.
If your willing = Us = Gods people at the end
Rev 14:12 Here is the patience of the saints: here are they that keep the commandments of God, and the faith of Jesus.
Rev 22:14 Blessed are they that do his commandments, that they may have right to the tree of life, and may enter in through the gates into the city.
By grace i have peace that my sins are forgiven but that does not mean i continue in sin.