Complex sentence: On 28 March 1986 "Discovery" left London aboard the cargo ship "Happy Mariner" to make her journey home to the city that built her, arriving on the River Tay on 3 April to a tumultuous welcome.
Split into simpler sentences: On 28 March 1986, "Discovery" left London aboard the cargo ship "Happy Mariner" to make her journey home to the city that built her. She arrived on the River Tay on 3 April to a tumultuous welcome.