Complex sentence: The original state was founded in the first half of the 18th century by the brothers Tukaji Rao (senior) and Jivaji Rao (junior), from the Puar clan of Marathas, who advanced into Malwa with the Maratha Peshwa, Baji Rao, in 1728.
Split into simpler sentences: The original state was founded in the first half of the 18th century by the brothers Tukaji Rao (senior) and Jivaji Rao (junior), from the Puar clan of Marathas. They had advanced into Malwa with the Maratha Peshwa, Baji Rao, in 1728.