Complex sentence: The Haryanka dynasty founded in 684 BC ruled Magadha from the city of Rajgriha (modern Rajgir), two well known kings were Bimbisara and his son Ajatashatru who imprisoned his own father to get the throne.
Split into simpler sentences: The Haryanka dynasty founded in 684 BC ruled Magadha from the city of Rajgriha (modern Rajgir). The two well known kings from this dynasty were Bimbisara and his son Ajatashatru who imprisoned his own father to ascend the throne.