Erik and Lyle Menendez, wearing blue prison uniforms, listened as relatives broke down in tears, begging the judge to set them free during the first day of a two-day hearing.

Menendez brothers resentencing hearing set to get underway after months of delays: Live - Erik and Lyle Menendez were sentenced in 1996 to life in prison without the possibility of parole for killing

Erik and Lyle Menendez 's much-anticipated resentencing hearing will be held Tuesday and Wednesday with lawyers set to battle over whether the brothers should get a lesser sentence, clearing the way for a potential release from prison. Defense attorney Mark Geragos, who is pushing for their release, said he plans to call seven witnesses.

A resentencing hearing to determine whether Eric and Lyle Menendez, who killed their parents in their Beverly Hills home decades ago, is underway Tuesday, just days after a new assessment changed the brothers’ risk status.

Attorneys for Erik and Lyle Menendez claim they were sexually abused by their father, so the murders were in self-defense. Prosecutors, however, said they killed their parents for the multimillion-dollar inheritance.

Netflix may revisit The Menendez brothers' story as their resentencing opens the door to parole, decades after their infamous 1989 conviction.

Jose Menendez and his wife Kitty Menendez, the parents of Erik and Lyle Menendez, were shot and killed in their Beverly Hills mansion in August 1989. In July 1996, the Menendez brothers were sentenced to life in prison without the possibility of parole.

A judge ruled Friday that a resentencing hearing for brothers Erik and Lyle Menendez can go forward next week, potentially clearing a path to parole decades after they killed their parents.