What does Chapter 37 say about the relationship between ignorance, the perception of self, and the cycle of rebirth?

Chapter 37 explains that a single divine principle, Brahman, pervades all of creation. However, a soul deluded by ignorance develops a sense of difference, believing, "Parabrahman is different from me; I am not that." The chapter states that this very knowledge of difference is what subjects a person to the eternal cycle of worldly existence (Samsara). This cycle, where death follows birth and rebirth follows death, turns eternally behind the one who is trapped in this ignorant perception of separation from the ultimate reality.