There are a lot of barriers that keep people from  physical and mental disabilities, history of welfare dependency and lack of education or self-esteem.
( There ( ( are ( ( a lot ) ( of ( barriers ( that ( keep ( ( ( ( ( people ( from ( physical ( and ( mental disabilities ) ) ) ) ) , ) ( history ( of ( welfare dependency ) ) ) ) and ) ( lack ( of ( ( education or ) self-esteem ) ) ) ) ) ) ) ) ) ) . ) )
(ROOT (S (NP (EX There)) (VP (VBP are) (NP (NP (DT a) (NN lot)) (PP (IN of) (NP (NP (NNS barriers)) (SBAR (WHNP (WDT that)) (S (VP (VBP keep) (NP (NP (NP (NNS people)) (PP (IN from) (NP (JJ physical) (CC and) (JJ mental) (NNS disabilities)))) (, ,) (NP (NP (NN history)) (PP (IN of) (NP (NN welfare) (NNS dependency)))) (CC and) (NP (NP (NN lack)) (PP (IN of) (NP (NN education) (CC or) (NN self-esteem)))))))))))) (. .)))
Many of those problems can be overcome if you receive help.
( ( Many ( of ( those problems ) ) ) ( ( can ( be ( overcome ( if ( you ( receive help ) ) ) ) ) ) . ) )
(ROOT (S (NP (NP (JJ Many)) (PP (IN of) (NP (DT those) (NNS problems)))) (VP (MD can) (VP (VB be) (VP (VBN overcome) (SBAR (IN if) (S (NP (PRP you)) (VP (VBP receive) (NP (NN help)))))))) (. .)))