Complex sentence: Jo Hyeong was the chief envoy of the Joseon embassy which was received in the shogunate court at Edo from where the delegation proceeded to the Tōshō-gū at Nikkō.
Split into simpler sentences: Jo Hyeong was the chief envoy of the Joseon embassy. After the embassy was received in the shogunate court at Edo; and the delegation proceeded the Tōshō-gū at Nikkō.