Complex sentence: Phil Collins recalls that one day he was driving to the studio and saw Steve walking so he stopped and offered him a lift to which he declined, when he got to the studio Tony and Mike told him he just phoned to tell him he was leaving.
Split into simpler sentences: Phil Collins recalls that one day he was driving to the studio and saw Steve walking, so he stopped and offered him a lift, to which he declined. When he got to the studio, Tony and Mike told him he just phoned to tell him he was leaving.