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Defining relative clauses identify which person/thing we mean and use no commas. Non-defining relative clauses add extra information (set off by commas) and cannot use "that."
My mother, that is a nurse, works nights.
My mother, who is a nurse, works nights. — Never use "that" in a non-defining relative clause.
The book, that I read, was great.
The book that I read was great. — Don't use commas around a defining relative clause.
The car that I bought is fast.
London, which is the capital of the UK, is huge.