Can someone please explain to me how in Mahayana samsara and nirvana are one and the same?

I'm currently reading What the Buddha Taught where the author describes that, interestingly, the Mahayana school's perspective is that Nirvana and Samsara are the same.

Could someone please explain to me how this could be? From my understanding Nirvana and Samsara are essentially opposites.

Samsara being the desire to be, to become, to continue. Nirvana being the realization that this is all an illusion.

I'm still working on my fundamentals so any and all advice is most welcome.

Thank you!

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from Buddhism https://ift.tt/2JnXRug