What leads to the cycle of birth and death (Samsara), and how is it related to the perception of Brahman?

Chapter 37 explains that the cycle of worldly existence, or Samsara, where death follows birth and rebirth follows death, is perpetuated by a specific kind of ignorance. This ignorance is the knowledge of difference, the belief that the ultimate reality, Parabrahman, is different from oneself. The text states, "'Parabrahman is different from me; I am not that, I am something else'—he who has such knowledge of difference is always subject to death." This delusion of separation, where a soul fails to recognize the non-dual nature of reality, is what eternally turns the wheel of Samsara.