Charles I was James I son. They both belived in Divine Rights of Kings. Which cause tension between Monarchy and Parliament. Parliament tried to limit the kings power. However he ignored and did whatever he wanted.
No Divine Rights of Kings
The Civil War starts between the cavaliers (Kings supporters) and roundheads (Supporters of Parliament). The war went on for many years with lots of bloodshed.
We shall rule
Oliver Cromwell come in and was victorious against the Charles I and the cavaliers. He purged Parliament of all non-supporters and King Charles was beheaded.
Bill of Rights
Charles II was made king and he didn't follow the theory of Divine Rights nor threatened Parliament's authority . Then Anglicanism became the official religion and treated Parliament and Catholics equally. James II then became King and he was openly Catholic. Which that worried Parliament.
English nobles encouraged William of Orange and Mary to invade and take over the throne. James II fled to France do to lack of support from England
This was the first revolution that was won with almost no bloodshed. William and Mary then made the Bill of Rights. Which laid foundation for constitutional monarchy. They destroyed the theory of Divine Right of Kings and Monarchy and Parliament ruled together.