Simplify the following text for a Grade 5 native English-speaking person.
Original: Vale tudo began in the 1920s with the `` Gracie challenge '' issued by Carlos Gracie and HÃ lio Gracie and upheld later on by descendants of the Gracie family .
Simplified: That was the so-called `` Gracie 's Challenge '' . Later , HÃ lio Gracie and the Gracie family continued this .