James l believed in divine rights of kings (believed he did not have to work together with parliament).
1642 was the start of civil war, supporters of king ( cavaliers or royalist) and supporters of parliament ( Roundheads). New model army under leadership of Oliver Cromwell ( Parliament). This purged parliament of non supporters.
King Charles was beheaded by Cromwell, (he was the first monarchy to lose his head in public). He abolished monarchy and set up commonwealth. (kind of like a republic). Cromwell eventually sets up military dictatorship. He ruled until his death in 1658. And the army restores England's monarchy.
James II becomes king in 1635. ( Charles brother). James ll, becomes openly catholic and the parliament becomes worried.
A group of English nobles encouraged William of Orange ( Ruler of the Netherlands, husband to James II daughter of Mary) to invade and take over. James II fled to France when he realized he had little support from England ( many soldiers deserted him). Revolution was won with almost no bloodshed. William and Mary accepted offer to throne.
The king or Queen cannot decide on new taxes unless parliament agrees. Bill of rights laid foundation for constitutional monarchy. Monarchy and Parliament ruled together theory of Divine Rights of Kings.