Complex sentence: It is initially said that when Lord Vishnu was in'Yognidra', Lord Brahma, the creator of the universe, appears from Vishnu's navel (nabhi), while two demons named Madhu and Kaitav originate from Vishnu's ears.
Split into simpler sentences: It is initially said that when God Vishnu was in'Yognidra', God Brahma, the creator of the universe, appears from Vishnu's navel (nabhi). Whereas, two demons named as Madhu and Kaitav originate from Vishnu's ears.