Complex sentence: Bairavaa, on hearing Malarvizhi's sad story, decides to help her fight PK and get justice for Vaishali and her family and with this in mind, he leaves for Kallidaikurichi with her.
Split into simpler sentences: Bairavaa, on hearing Malarvizhi's story, decides to help her fight PK and get justice for Vaishali and her family. With this in mind, he leaves for Kallidaikurichi with her.