Complex sentence: The story starts after Bobby has arrived in Zadaa with Loor, who explains to Bobby Pendragon, the lead Traveler and main character, the situation on Zadaa, and introduces Bobby to her squire Saangi and her friends, Bokka and Teek.
Split into simpler sentences: The story starts after Bobby has arrived in Zadaa with Loor. Loor explained to Bobby Pendragon, the lead Traveler and main character, the situation on Zadaa, and introduces Bobby to her squire Saangi and her friends, Bokka and Teek.