Complex sentence: Biden was a long-time member of the U.S. Senate Committee on the Judiciary, which he chaired from 1987 until 1995 and on which he served as ranking minority member from 1981 until 1987 and again from 1995 until 1997.
Split into simpler sentences: Biden was a long-time member of the U.S. Senate Committee on the Judiciary. He chaired it from 1987 until 1995 and he served as ranking minority member on it from 1981 until 1987 and again from 1995 until 1997.