Charles II reigns after Cromwell's death. This period is called the Restoration. During this period, the Parliament passed a law named habeas corpus; a law where every prisoner has the right to be brought to a judge to specify charges against a prisoner. In this time, the Parliament was deciding on who should lead after Charles II, since Charles didn't have a child.
In 1685, Charles II died, and James II became King. However, he immediately offended the public with his Catholicism. Violating the law, he assigned Catholics to higher positions. When the Parliament protested against it, James ignored them. Once James had a son, the English Protestants became afraid of the idea of a line of Catholic kings.
James's daughter, Mary, was Protestant; like the rest of the public. She also was married to William of Orange, prince of Netherlands. The Parliament invited the two to overthrow James, for the sake of Protestantism. James had fled to France after William led his army to London in 1688. This bloodless overthrow of James II is called the Glorious Revolution.