How does the text explain the relationship between the Soul and the body, and what role does this relationship play in the cycle of worldly existence?

According to Chapter 19, the relationship between the Soul (Atma) and the body is a supreme and unavoidable exception to the rule that friendship exists only between those of similar nature. The Soul is described as changeless and imperishable, while the body is perishable. Despite this fundamental difference, their affection for each other is extraordinary, and one cannot bear to be without the other. This chapter states that it is precisely because of this immense love between the different Soul and body that the cycle of worldly existence, or Samsara, continues to perpetuate.