Nyāya Sūtras 3.8

3.8

seyaṃ pravṛttiḥ kutsitasyābhipūjitasya ca janmanaḥ kāraṇam/ janma punaḥ śarīrendriyabuddhīnāṃ nikāyaviśiṣṭaḥ prādurbhāvaḥ, tasmin sati duḥkham/ tat punaḥ pratikūlavedanīyaṃ bādhanā pīḍā tāpa iti/ ta ime mithyājñānādayo duḥkhāntā dharmā avicchedenaiva pravartamānāḥ saṃsāra iti/

This activity is the cause of despicable and praiseworthy birth. Birth, moreover, is the manifestation of the body, sense organs, and intellects qualified by a specific group [of aggregates]; when that exists, there is pain. Pain, furthermore, is that which is experienced as adverse, hindrance, suffering, torment. These properties, beginning with false knowledge and ending with pain, continuing without interruption, constitute cyclical existence [saṃsāra].