The text mentions the cycle of Samsara. According to the teachings, what causes a soul to be trapped in this cycle, and what is the alternative?

Chapter 37 teaches that the primary cause for being trapped in the cycle of worldly existence, or Samsara, is the ignorance that creates a sense of separation from the divine. A person who believes "Parabrahman is different from me; I am not that" is subject to the endless cycle of death followed by rebirth. This perception of difference is described as a delusion born of ignorance. The alternative path, as implied by the text, is to overcome this delusion by realizing the oneness of the Self with Brahman. By crossing the "nooses of death"—adharma, ignorance, anger, and hatred—one enters a fearless, divine state, thereby breaking free from the perpetual cycle of birth and death.