Complex sentence: According to Marvin Gaye's relatives, Gaye's father coached him in piano lessons, which Gaye learned by ear, it was one of the few untroubling times in the father and son's relationship.
Split into simpler sentences: According to Marvin Gaye's relatives, Gaye's father coached him in piano lessons, which Gaye learned by ear. It was one of the few untroubling times in the father and son's relationship.