Complex sentence: Roelfzema piloted the airplane in which Princess Juliana, Prince Bernhard and their daughter Princess Beatrix flew back to the Netherlands, and helped Beatrix walk her first steps on liberated Dutch soil.
Split into simpler sentences: Roelfzema piloted the airplane in which Princess Juliana, Prince Bernhard and their daughter Princess Beatrix flew back to the Netherlands. Hazelhoff Roelfzema helped Beatrix walk her first steps on liberated Dutch soil.