What is the relationship between the Soul and the body, and why does this connection lead to the cycle of worldly existence?

Chapter 19 explains that the union of the Soul (Atma) and the body is a unique and extraordinary exception to the rule that friendship exists between similar natures. The Soul is changeless and imperishable, while the body is perishable. Despite this fundamental difference, their affection is immense, and one cannot bear to be without the other. It is precisely this intense love and attachment between the eternal Soul and the transient body that perpetuates the cycle of worldly existence, also known as Samsara.