Samsara is world of sorrow and insecurity birth and death is due to adhyasa. Adhyasa is due to misunderstanding oneself as body and worldly life instead of Self. Adyasa can be removed by understanding he is self,atma, brahman by sravan manan and nidhidyasan. Understanding comes by this. Then you can abide in it and enjoy bliss. Know that you are not the doer,enjoyer. Prakrithi, the gunas satva raja,tamas does all actions and enjoys. You are akarta, abhoktha.