Complex sentence: He left his home after his parents died to be initiated into the order of Brahma Sampradaya by his older brother Madhavacharya, who was the founder of the Dvaita school.
Split into simpler sentences: He left his home after his parents died to join the order of Brahma Sampradaya. He was initiated into the order by his older brother Madhavacharya, the founder of the Dvaita school.