yearning for adventure and a chance to prove his worth 
(ROOT (S (VP (VBG yearning) (PP (IN for) (NP (NP (NN adventure)) (CC and) (NP (DT a) (NN chance) (S (VP (TO to) (VP (VB prove) (NP (PRP$ his) (NN worth)))))))))))
(ROOT (S (VP (VBG ) (PP (IN ) (NP (NP (NN )) (CC ) (NP (DT ) (NN ) (S (VP (TO ) (VP (VB ) (NP (PRP$ ) (NN )))))))))))