Charles I was unpopular since he believed in the Divine Right of Kings and did whatever he wanted. He ignored what parliament said and unfairly punished people.
Restoration of Stuart Monarchy
And listen to them I shall.
Sir Charles, you shall be allowed to rule as long as you recognize that you must listen to parliament.
The Roundheads; who supported the parliament, were fighting the Cavaliers; who supported the King, over who would have more power in the government.
Glorious Revolution
Sir William! Some English nobles have invited you to England to overturn the kingdom.
Kings Charles was executed as he was being a tyrant. There was a public execution that was held.
English Bill of Rights
What do you mean Parliament has more power than me!?
It's the way it must be sir, it's the only way we can move forward as a country.
After Cromwell dues, the military sees how unpopular a military dictatorship is so they bring back the monarchy, but this time, they give parliament more power.
English nobles invited Dutch leader William of Orange to invade England and to defeat their current leader. As he also believed in the Divine Right of Kings and ignored parliament.
The parliament then establishes the Bill of Rights. After this England started to move towards an actual government where the King didn't have all the power.