Complex sentence: Elliot participated with fellow saxophonists Paul Taylor, Gerald Albright and keyboardist Jeff Lorber in the "Grooving for Grover" concert series, which honored the legacy of the late Grover Washington Jr., who was a founding father of smooth jazz.
Split into simpler sentences: Elliot participated with fellow saxophonists Paul Taylor, Gerald Albright and keyboardist Jeff Lorber in the "Grooving for Grover" concert series. The series honored the legacy of the late Grover Washington Jr., who was a founding father of smooth jazz.