According to the text, how does ignorance obscure the true nature of Brahman and lead to the cycle of Samsara?

The source material from Chapter 37 explains that a single divine principle, Brahman, pervades everything in existence. However, due to ignorance and being combined with adjuncts (upadhis), a deluded soul fails to recognize this unity. This ignorance manifests as the belief in difference, the idea that "Parabrahman is different from me; I am not that." The text explicitly states that anyone holding this perception of duality is always subject to death. This perceived separation perpetuates the eternal cycle of worldly existence, or Samsara, where death follows birth and rebirth follows death.