According to the philosophy in Chapter 37, what causes the cycle of worldly existence (Samsara) and how can one attain liberation from it?

Chapter 37 identifies the root cause of the endless cycle of birth and death, or Samsara, as a specific form of ignorance. It is the deluded knowledge of difference, where a person believes, 'Parabrahman is different from me; I am not that, I am something else.' This sense of separation from the ultimate reality is what subjects the soul to the eternal cycle. Liberation, therefore, is achieved by destroying this delusion. The chapter points to the solution near its end, stating, 'The science of the oneness of Brahman and the Self is the means to liberation.' By realizing the non-dual truth that the same divine principle pervades everything and that one's Self is not separate from Brahman, one breaks free from Samsara.