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Sirhan, 77, has been recommended for parole after two of Kennedy’s sons showed support for his release from prison. Sirhan has served 53 years for the murder.
Douglas Kennedy said he was moved to tears by Sirhan’s remorse and said he should be released if he is not a threat to others.
Mr Kennedy said: “I’m overwhelmed just by being able to view Mr Sirhan face to face.
“I think I’ve lived my life both in fear of him and his name in one way or another, and I am grateful today to see him as a human being worthy of compassion and love.”
Sirhan, who is imprisoned in San Diego, has been denied parole 15 times.
Sirhan Sirhan granted parole – Shown in this handout photo taken February 9, 2016 (Image: California Department of Correct/ Reuters)
Sirhan Sirhan went to prison in 1972 (Image: Getty Images)
However, parole does not mean he will be freed from prison.
The California parole board will have 120 days to finalize the decision.
The governor of California will then make the decision to let it stand, modify it or reverse it within 30 days.
Sirhan is currently serving a life sentence for assassinating Kennedy on June 6, 1968, at the Ambassador Hotel in Los Angeles.
Robert F Kennedy was brother of president John F Kennedy (Image: Getty Images)
Robert F Kennedy was the brother of president John F Kennedy and was the Democratic presidential candidate when he was gunned down.
The shooting occurred minutes after the US senator from New York and former attorney general gave his victory speech after winning the California Democratic primary.
Palestinian-born Sirhan said he fired at Kennedy because he was enraged by his support for Israel but has repeatedly stated he had no recollection of the killing.
Kennedy died the next day.
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Robert F Kennedy was assassinated on June 6, 1968, at the Ambassador Hotel in Los Angeles (Image: Getty Images )
Robert F Kennedy gives speech in 1968 (Image: Getty Images)
Sirhan’s attorney Angela Berry told the Los Angeles Times her client has never been accused of a serious prison violation and that prison officials have deemed him a low risk.
Parole board officials and his attorney were not immediately available for comment.