According to the teachings, what is the root cause of being trapped in the cycle of Samsara, and what is the ultimate means of liberation?

The root cause of being trapped in the eternal cycle of worldly existence, or Samsara, is a fundamental ignorance and the resulting perception of duality. Chapter 37 explains that when a soul, deluded by ignorance, believes "Parabrahman is different from me; I am not that, I am something else," this knowledge of difference subjects them to the endless cycle of death following birth and rebirth following death. The text also identifies adharma (unrighteousness), ignorance, anger, and hatred as the "nooses of death." The ultimate means of liberation, as implied by the teachings in Chapter 37, is the science of the oneness of Brahman and the Self. This involves realizing that the same divine principle pervades all of existence and that there is no separation between the individual Self and the Cosmic Self.