Complex sentence: Tetzlav and his co-regent brother, Jaromar, had acknowledge the suzerainty of their conquerors each time, including participation in 1162 in Valdemar's military campaign against Wolgast and in 1163 in the consecration of Lübeck Cathedral by Henry the Lion.
Split into simpler sentences: Tetzlav and his co-regent brother, Jaromar, had to acknowledge the suzerainty of their conquerors each time. For example, they took part in 1162 in Valdemar's military campaign against Wolgast and in 1163 in the consecration of Lübeck Cathedral by Henry the Lion.