पर भरोसा करना  =  be sure
You can never depend on his arriving on time.

निर्भर करना  =  depend
A lot will depend on how she responds to the challenge

पर निर्भर रहना  =  rely on
You can't depend on the train arriving on time.

निर्भर करना  =  rely on
Elderly parents often depend on their adult children.

निर्भर होना  =  rely on
I don't have car,so i have to depend on the buses

आश्रित होना
Elderly parents often depend on their adult children.