What is the primary cause of being trapped in the cycle of birth and death, and how does one attain the fearless state of liberation?

The primary cause of being trapped in the cycle of worldly existence (Samsara) is the ignorance that creates a sense of difference between the self and the ultimate reality. Chapter 37 states that the belief, "Parabrahman is different from me; I am not that," subjects a soul to the eternal cycle of birth and rebirth. To attain the place of fearlessness, one must overcome this delusion. This is achieved by offering every action performed, even in a single moment, to God. This act of surrender, combined with devotion, is the path to liberation.