Definition: $\mathcal{H}$ be a Hilbert space and $U(\mathcal{H})$ denote the unitary operators on it, If Unitary representation of a matrix lie group $G$ is just a homomorphism $\Pi:G\rightarrow U(\mathcal{H})$ with the following continuity condition: $A_n\rightarrow A\Rightarrow \Pi(A_n)v\rightarrow\Pi(A)v$
Now could any one help me what is going on here in detail so that I can understand,
"let $\mathcal{H}=L^2(\mathbb{R}^3,dx)$ the space of all square integrable functions on $\mathbb{R}^3$, for each $R\in SO(3)$ we define an operator $[\Pi_1(R)f](x)=f(R^{-1}x)$, since Lebesgue measure is rotationally invariant, $\Pi_1(R)$ is a unitary operator for each $R\in SO(3)(why?)$ , and it is easy to show $R\rightarrow \Pi_1(R)$ is unitary representation." Thank you