What causes a soul to be trapped in the cycle of birth and death, and how does this relate to the idea of Brahman?

According to the explanation in Chapter 37, the cycle of worldly existence, or Samsara, is perpetuated by a fundamental ignorance. A soul becomes trapped when it holds a sense of difference and separation from the ultimate reality. The text states that one who believes, "Parabrahman is different from me; I am not that, I am something else," is always subject to death. This perception of duality, where the soul is seen as separate from the all-pervading Brahman, causes the eternal cycle where death follows birth and rebirth follows death. The path to liberation, therefore, lies in overcoming this deluded knowledge of difference.