All ‘things’ are impermanent. Things are interdependent [nonself]. With wrong views about things, things are unsatisfactory, painful [dukkha].
Grasping at things as if they were permanent, or as if they had self-nature (self-sustained, isolate, individual existence), dukkha arises and is sustained.
This cyclic existence is called Samsara.
The end of that painful cycle is called Nirvana.
The whole thing is mind-made.
Mind is mind-made.