Complex sentence: Venezuela and United States's ties go back to 1806 when Venezuela was still under Spanish rule, at that time Francisco de Miranda, a Venezuelan soldier, filibuster and adventurer, unsuccessfully attempted to liberate his country with the aid of U.S. government.
Split into simpler sentences: Venezuela and United States's ties go back to 1806 when Venezuela was still under Spanish rule. At that time Francisco de Miranda, a Venezuelan soldier, filibuster and adventurer, unsuccessfully attempted to liberate his country with the aid of U.S. government.