What is the root cause of being trapped in the cycle of birth and death (Samsara), and how is it related to the understanding of Brahman?

According to Chapter 37, the fundamental cause of being trapped in the eternal cycle of worldly existence, or Samsara, is a deluded understanding of one's true nature. The text states that the same divine principle, Parabrahman, pervades all of existence, from the creator down to the smallest blade of grass. However, a soul deluded by ignorance believes, "Parabrahman is different from me; I am not that, I am something else." This perception of difference and separation is the very thing that subjects an individual to the endless cycle of death and rebirth. The path to liberation, therefore, lies in realizing the oneness of the Self with Brahman.