Complex sentence: Lord Willoughby commanded the Life Guards at Edgehill, where his father was mortally wounded by a shot through the thigh, and surrendered to the Parliamentarians in order to attend his father, whom he now succeeded as Earl of Lindsey and Lord Great Chamberlain.
Split into simpler sentences: Lord Willoughby commanded the Life Guards at Edgehill, where his father was mortally wounded by a shot through the thigh. Willoughby surrendered to the Parliamentarians in order to attend his father, whom he now succeeded as Earl of Lindsey and Lord Great Chamberlain.