Jesus rebukes the Pharisees for their legalistic interpretation of the Torah. How does what the Pharisees were doing differ from the disciplines the Church imposes?
Jesus rebuked the Pharisees for hypocrisy, not for legalism. His concern was not that they were interpreting the law too carefully, but that they were justifying the flouting of larger principles of the law (e.g., honor for parents) by opposing those principles to other principles (e.g., temple tithe) that may have been important in themselves but not to the neglect of their ordinary duties to God and neighbor. In other words, the Pharisees Jesus condemned were guilty of appearing to uphold the law while, in reality, finding ways to get around it.
As a side note, despite his blistering denunciations of hypocrisy from the religious leaders of the day, Jesus upheld their rightful authority to the people:
Then said Jesus to the crowds and to his disciples, “The scribes and the Pharisees sit on Moses’ seat; so practice and observe whatever they tell you, but not what they do; for they preach, but do not practice” (Matt. 23:1-3).
The Church’s disciplines are given to Catholics, not out of legalism or hypocrisy, but in order to better guide Catholics to work with God’s grace and achieve holiness.