Bhagavad Gita

ವಾಸಾಂಸಿ ಜೀರ್ಣಾನಿ ಯಥಾ ವಿಹಾಯ ನವಾನಿ ಗೃಹ್ಣಾತಿ ನರೋSಪರಾಣಿ ।
ತಥಾ ಶರೀರಾಣಿ ವಿಹಾಯ ಜೀರ್ಣಾನ್ಯನ್ಯಾನಿ ಸಂಯಾತಿ ನವಾನಿ ದೇಹೀ॥೨೨॥
vāsāṃsi jīrṇāni yathā vihāya navāni gṛhṇāti naroSparāṇi |
tathā śarīrāṇi vihāya jīrṇānyanyāni saṃyāti navāni dehī||22||

Gist of the sloka:
Like a person who discards his old clothes and wears a new one, so does the soul discards the old body and gets into a new one.
Similar to discarding the old cloth, soul discards the body. Like a mother determines when and what a child should wear, Lord decides when and what the soul should wear and when it should remove it. The child has no choice similar to soul. The child or the soul itself has no say in this matter
Happiness is in accepting the reality and going along with it.
Certain very advanced soul do get to determine what body and when they wish to leave the body. That again is not at their sole discretion but with Lord permission.
Examples of that are plenty in the puranic lore. The same is also mentioned in the recent books, [Living with Himalayan Masters by Swami Rama] wherein the Swami Rama’s guru demonstrated these aspects and have been documented. Lesser mortals cannot do the same.
The universal truth remains that the soul has no death nor birth. Appearance in the body is birth and disappearance from the gross body is death. Soul itself continues to exist.
Individual soul characteristic [Swaroopa] never changes. Does it mean it cannot be destroyed? We shall soon know the answer in the next few verses.