The homotopy group $\pi_3(SO(4))$ classifies oriented $4$-dimensional vector bundles over $S^4$ by the clutching construction. There's an isomorphism $\mathbb{Z}\oplus\mathbb{Z}\rightarrow\pi_3(SO(4))$, mapping $(h,j)\mapsto(x\mapsto(y\mapsto x^hyx^j))$, quaternionic multiplication being understood. What Milnor does is look at the associated sphere bundles $M_{h,j}$, i.e. $S^3$-bundles over $S^4$; explicitly they are given as $D^4\times\mathbb{H}\cup_{f_{h,j}}D^4\times\mathbb{H}$ glued together along $f_{h,j}\colon S^3\times\mathbb{H}\rightarrow S^3\times\mathbb{H},\,(x,y)\mapsto(x,x^hyx^j)…