Complex sentence: Grylls was assisted by survival expert, Megan Hine, and former commando, Scott Heffield, who accompanied the celebrities, and their assessment of how the celebrities performed helped Bear Grylls decide who to eliminate each episode.
Split into simpler sentences: Grylls was assisted by survival expert, Megan Hine, and former commando, Scott Heffield, who accompanied the celebrities. Their assessment of how the celebrities performed helped Bear Grylls decide who to eliminate each episode.