Complex sentence: Madagascar relations spans for over a millennium, since the ancestors of the people of Madagascar sailed across the Indian Ocean from Indonesia back in 8th or 9th century CE. Indonesia has an embassy in Antananarivo, while Madagascar embassy in Tokyo is also accredited to Indonesia.
Split into simpler sentences: Madagascar relations spans for over a millennium, since the ancestors of the people of Madagascar sailed across the Indian Ocean from the Malay Archipelago back in 8th or 9th century AD. Today, Indonesia has an embassy in Antananarivo, while Madagascar embassy in Tokyo is also accredited to Indonesia.