What is the philosophical cause of the cycle of birth and death (Samsara) as explained in the Satcharitra?

Chapter 37 delves into the root cause of Samsara, the eternal cycle of birth and death. The text explains that this cycle is perpetuated by a deluded mind and a sense of difference or duality. A soul becomes deluded by ignorance when it sees the Parabrahman (the Supreme Reality) as separate from itself, thinking, "Parabrahman is different from me; I am not that, I am something else." The scripture asserts that anyone who holds such knowledge of difference is always subject to death, which is followed by birth, which is followed by death, causing the wheel of worldly existence to turn eternally behind them.