Complex sentence: Titu Cusi (1529-1571) was a son of Manco Capac, who became the Inca Ruler of Vilcabamba in 1558 and ruled until his death in 1571.
Split into simpler sentences: Titu Cusi (1529-1571) was a son of Manco Capac. He became the Inca Ruler of Vilcabamba in 1558 and ruled until his death in 1571.