Complex sentence: The company was founded in 1999 by Tetsuya Takahashi with the support and cooperation of Masaya Nakamura, the founder of Namco in order to develop the "Xenosaga" series, a spiritual successor to the Square-developed "Xenogears".
Split into simpler sentences: The company was founded in 1999 by Tetsuya Takahashi with the support and cooperation of Masaya Nakamura, the founder of Namco. Their first project was the "Xenosaga" series, a spiritual successor to the Square-developed "Xenogears".