The science of birth and death which is briefly mentioned in the vedas is explained in Upanisads and thoroughly expanded in the puranas. This condition of living entity is called Samsara (Material existence). The word samsara (cycle of birth or rebirth) appears more than thousand times in various vedic scriptures. The ancient Vedic people belived in an afterlife and spiritworld. The Vedic recycling is beautifully explained in Rigveda - once dead, one’s “life” is indeed transferred to new system, in earth, sky or waters. (RV 10.16.3) But is that “reincarnation”? No, it is a mere recycling of the constituents of the body, that become the life-promoting cells in another part in this earth. Rebirth is conditioned and driven by the doctrine of Karma. Several verses of the Rig Veda speak of rebirth (punarjanam), पुनर्नः सोमस्तन्वं ददातु पुनः पूषापथ्यां या सवस्तिः || शं रोदसी सुबन्धवे यह्वी रतस्य मातरा | (Rigveda 10.59.7) Once again give me this earth...
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