Simplify the following text for a Grade 9 native English-speaking person.
Original: Baskin-Robbins is a global chain of ice cream parlors founded by Burt Baskin and Irv Robbins in 1953 , from the merging of their respective ice cream parlors , in Glendale , California .
Simplified: It was founded in 1953 by the merger of two separate ice cream ventures of Burt Baskin and Irv Robbins , who were brothers-in-law .