Death is certain of that (body) which is born, rebirth is certain of that (body) which is dead.

Just as a man takes off worn out clothes and puts on new ones, so the embodied (soul) cuts off worn out bodies and enters into new ones.

We are reborn in a house which is conducive to our character (qualities). The man of an ignorant nature, devoid of faith and possessed of doubt is destined to the wheel of birth and death. But he who has dedicated all his actions to God in the spirit of yoga of Action, action does not bind him. He is liberated.

When the Yogi realizes that all this is Lord Vasudeva (Sri Krishna-God) he is liberate. He is not born.