After the death of Elizabeth Tudor in 1603, James l ascended to the throne and came with his strong belief of Divine Right of Kings. This belief passed down to the new king and son of James l, Charles l. Parliament did not agree with this system and soon put out a petition of Powers to limit the king's power, which Charles l signed, but later ignored.
The monarchy is back!
In 1642 the start of the Civil War started, and the two sides were the Cavaliers vs. the Roundheads. This resulted in Oliver Cromwell becoming victorious against King Charles and the Cavaliers , and becoming the new leader of England. Cromwell then went to purge parliament of non-supporters to strengthen his rule.
You need to take the throne!
As the new leader of England, Oliver Cromwell did many things to strengthen his rule. He publicly beheaded Charles, and abolished the monarchy and set up a commonwealth in England. Eventually, Cromwell set up a military dictatorship, which he ruled until 1658.
Bill of Rights
After Cromwell's death in 1658, England's army restores the monarchy, and Charles ll comes into rule. Charles stood by no Divine Right of Kings, and to not threaten parliament's authority. He also had some new things with his rule like Habeas Corpus Law, and Angelicanism as the official religion. After the death of Charles ll, his brother James ll becomes king, but he comes with a problem for parliament and that is the fact that he is openly catholic.
Since parliament is having some problems with James ll rule, they decide to encourage William of Orange, husband of James ll's daughter Mary, to take over the throne. Once James ll realized he did not have much support from England, he fled to France, and the revolution was won with almost no bloodshed. IN 1689, William and Mary accept the throne.
Once Mary and William peacefully take the throne in 1689, A Bill of Rights is set to lay down the foundation for the constitutional monarchy. Once this is finalized, Monarchy and Parliament rule together and destroy the theory of Divine Right of kings.