The fear of death is fear of change.
Vedas clearly tell that a soul leaves a body only after getting another.
This subtle body contains karmick scripts which play a role when soul incarnates again in a material body.
Causal body is root cause of cycles of birth and death. It contains samskaras(most subtle impressions from which intention vectors-karma proceed) inside its shell and it gets detached from samskaras only in two conditions: When someone attains Bhakti--meets supreme personality of Godhead or at the time of Mahapralaya when all the souls go inside Godhead in a dormant state.
There is no death for any soul--souls are eternal.
Even God cannot destroy soul or Maya.
Krishna is ruler of Maya, Maya rules over souls.
Liberated souls get liberation from Maya by grace of Krishna.
Even liberated souls don't enjoy bliss of Krishna without surrendering fully unto him and without serving him with full devotion.
In Kaliyuga, many people in India consider Maha-Mrityunjaya mantra as a potent tool to get rid of untimely death.
Abhimanyu, the brave fighter in Mahabharata was the son Arjuna.
His uncle Krishna and his father Arjuna, along with Veda-Vyasa were present at the time of his death.
Veda-Vyasa is incarnation of plenary portion of Krishna. Krishna is swayam Bhagvan, still Abhimanyu had to die.
Arjuna got very anxious after the death of Abhimanyu and wanted to see him just once more. He requested Krishna to make arrangements for the same.
Krishna was reluctant but showed mercy and called Abhimanyu's soul.
As soon as Abhimanyu's soul came, Arjuna said "Oh my son!"
Abhimanyu said "Whose son and whose father?"
"You were father of that body, which is a corpse now," Abhimanyu said.
"I am not your son, nor you're my father."
Image: From this website
Soul has infinite number of temporary relations and they're all as false as they're true relative to each other. A soul's relation is true only with supersoul, because it's the only eternal relation.
Source: Discourses by Kripaluji Maharaj