Given up.
To yield can be defined as the act of giving up one's control or possession (whether of something physical or not such as one's freedom and rights) to someone else, usually because it is required or fitting for some reason.
The Federalist Papers written by the Fathers of America was influenced by John Locke's view on how government should be. According to him, in order to live in a more peaceful and orderly society, people have to "yield", "give up", "surrender" or "cede" some of their natural rights to a government (such as their natural freedom). The statement is tightly linked to this view, therefore, "to give up" is a good substitute of the word "yield".