Complex sentence: They were only saved by the magical powers of Goopy and Bagha who in turn were married to the princesses of the respective kingdoms of Shundi and Halla; where they would live until they decide to visit the kingdom of Hirak.
Split into simpler sentences: They were only saved by the magical powers of Goopy and Bagha who in turn were married to the princesses of the respective kingdoms of Shundi and Halla. Where they will live until they decide to visit the kingdom of Hirak.