'Samsaara' means that which revolves, flows, moves, that which is not stable or fixed. Since birth, growth, decline and death are the inevitable phases of life and since integration and disintegration, solution and dissolution, evolution and involution, contraction and expansion are the phases of all creation, the universe itself is a Samsaara.
And, Dukha or suffering is its native characteristics, for Samsaara is asaara, (Unreal), not subsisting as the same, in the past, present and future. Man is subject to birth and death, he takes birth again, in order to live the life he has built for himself during the interval. This wheel of samsaara crushes the individual unless he knows how to escape it. Baba helps us to 'Kshaya' (diminish or destroy) the 'Dukha' (suffering) latent in Samsaara. 'Sparsanam Karma Vimochanam', He assures. When we touch His holy feet, we are freed from the binding effect of all activities done until then. If after this, we utilize every minute of our lives in activities that rebound to His glory, (i.e, to the glory of Him, in us) then, we are liberated from the need to be born again. We take refuge in His Universal love and are merged and freed forever. Becoming Love and merging in Him who is Love, is called Saayujya.
One can also become wise and desist from contamination with the world, which is Samsaara, impermanent, ever changing, (filled with opposites like pleasure-pain, joy-grief, profit-loss, birth-death).