How does one remain trapped in the cycle of Samsara, and what is the described path to liberation?

Chapter 37 teaches that an individual remains trapped in Samsara, the worldly cycle of birth and death, by harboring a sense of separation from Parabrahman. This delusion of being 'something else' keeps the soul bound. The path to liberation involves understanding the science of the oneness of Brahman and the Self. This profound knowledge, which is more valuable than heaven, is attainable on earth. To achieve this, one must surrender the five life-breaths (pranas) and the intellect to a Satguru. Chapter 37 states that when one fully surrenders to the Satguru, the fear of worldly existence is removed, breaking the cycle.