Isaiah 10:27 And it shall come to pass in that day, that his burden shall be taken away from off thy shoulder, and his yoke from off thy neck, and the yoke shall be destroyed because of the anointing.

We are all in bondage to some extent even now, but it is the Anointing (Holy Spirit) Who is breaking the yoke.  One day, we will no longer be in bondage to Satan in any sense at all.  We will be free to serve God.  This is what we were designed and created for and this is the only thing that will bring satisfaction to us.