Complex sentence: Empathy is a related concept, meaning experiential recognition and understanding the states of mind, including beliefs, desires and particularly emotions of others, often characterized as the ability to "put oneself into another's shoes".
Split into simpler sentences: Empathy is a related concept, meaning the recognition and understanding the states of mind of others, including their beliefs, desires and particularly emotions. This is often characterized as the ability to "put oneself into another's shoes".