Can you explain the concept of Samsara, or the cycle of worldly existence, as presented in Chapter 37?

Chapter 37 explains that the perpetual cycle of worldly existence, or Samsara, is driven by a deluded sense of separation from the divine. When an individual, due to ignorance, believes "Parabrahman is different from me; I am not that," they create a knowledge of difference. The chapter states that one who holds this belief is always subject to death. This leads to the eternal turning of the wheel where death follows birth, and rebirth inevitably follows death, trapping the soul in this continuous cycle.