Complex sentence: Kevin Burns approached Hefner in 2005, which resulted in a pilot called "Hef's World" being filmed which followed "Hef, his girlfriends and friends contrasted with the staff".
Split into simpler sentences: Kevin Burns approached Hefner in 2005, which resulted in a pilot called "Hef's World" being filmed. This followed "Hef, his girlfriends and friends contrasted with the staff".