"In the same way I saw an ancient path , an ancient road, traveled by the Rightly Self-awakened Ones of former times.
And what is that ancient path , that ancient road, traveled by the Rightly Self-awakened Ones of former times? Just this noble Eightfold Path :

right view ,

right aspiration ,

right speech,

right action ,

right livelihood ,

right effort ,

right Mindfulness ,

right concentration...

I followed that path . Following it, I came to;

direct knowledge of aging & death ,

direct knowledge of the origination of aging &
death ,

direct knowledge of the cessation of aging &
death ,

direct knowledge of the path leading to the
cessation of aging & death ...

Knowing that directly, I have revealed it to monks ,
nuns , male lay followers & female lay followers...

— Nagara Sutta

The Wheel of Saṃsāra

For a further explanation of the bhavacakra ;the Wheel of Saṃsāra