What is the root cause of being trapped in the cycle of birth and death (Samsara), and how can one overcome it according to the Satcharitra?

Chapter 37 explains that the root cause of being trapped in the eternal cycle of worldly existence, or Samsara, is the ignorance-fueled perception of duality. Specifically, the text states that a person who believes 'Parabrahman is different from me; I am not that, I am something else' is always subject to death and rebirth. This knowledge of difference perpetuates the cycle where death follows birth and rebirth follows death. To overcome this, one must transcend this delusion. The chapter points towards recognizing the single principle that pervades everything, and crossing the 'nooses of death'—which are identified as unrighteousness, ignorance, anger, and hatred.