When Queen Elizabeth died in 1603 with no heir. James I believed in Devine Rights of Kings (believed he did not have to work together with Parliament).
I'm the leader now.
In 1642 the supporters of King Charles I were the Cavaliers or Royalist. The supporters of Parliament were the Roundheads. Oliver Cromwell was the leader of Parliament, they were victorious against King Charles and the Cavaliers.
We accept the throne.
King Charles was the first monarch to lose head in public (beheaded).
Monarchy was abolished and set up commonwealth. Cromwell eventually sets up military dictatorship, he ruled until his death in 1658. Army restores England's monarchy. In 1600 son of Charles I, Charles II is made king. Charles II learned from his father and grandfather no Divine Right and did not threaten Parliament's Authority.
A group of English nobles encouraged William of Orange (ruler of Netherlands, husband to James II daughter Mary). The revolution was won with almost no bloodshed. In 1689 William and Mary accepted the offer to the throne.
Bill of Rights laid foundation for constitutional monarchy monarchy. Monarchy and Parliament ruled together and destroyed theory of constitutional monarchy.