Complex sentence: On the fleeing spree the five brothers married the legendary Draupadi and made an alliance with Panchalas and their mother's relatives the powerful Vrishni Yadavs, led by Krishna, and came back to the city for rightful inheritance of the throne.
Split into simpler sentences: On the fleeing spree the five brothers married the legendary Draupadi, making an alliance with the mighty Panchalas. Joined by their mother's relatives, the powerful Vrishinis, led by Krishna, they came back to the city for rightful inheritance of the throne.