What set samsara in motion?

I’m definitely not well versed in Buddhist literature, and I hope that this question and the following doesn’t come across as too oversimplified. If we are experiencing a cycle of birth, death and rebirth, and the goal is to escape/transcend this state by achieving an ultimate state of enlightenment/awareness/reality, why did the cycle of birth, death, rebirth begin in the first place? Did the Buddha speak to the nature of the origin of existence?

submitted by /u/Vic_the_Human69
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