How does the relationship between the Soul and the body lead to the cycle of worldly existence (Samsara)?

Chapter 19 explains that the union between the Soul (Atma) and the body is a supreme and unavoidable exception to the rule that friendship exists only between those of a similar nature. The Soul is imperishable and changeless, whereas the body is perishable. Despite this stark difference, their affection for each other is described as extraordinary, to the point that one cannot bear to be without the other. The Satcharitra states that it is precisely because of this immense love and inseparable connection that the cycle of worldly existence, or Samsara, is perpetuated.