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.

The Menendez brothers, imprisoned since 1990, could be on a path to release after they were resentenced. See the whole timeline of their murder case.

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.

The brothers have served nearly 30 years in prison for the 1989 killings of their parents, Jose and Kitty Menendez.

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

After seven months of hearings, court filings and news conferences, Lyle and Erik Menendez face the possibility of freedom as a two-day resentencing hearing commences Tuesday, three decades after they were convicted of the 1989 murders of their parents.

Erik and Lyle Menendez were resentenced on Tuesday to 50 years to life in prison, which makes them eligible for parole.

On the first day of Erik and Lyle Menendez ‘s resentencing hearing Tuesday, their cousins, a former judge and a former fellow inmate took to the witness stand to testify that the brothers were not only rehabilitated but helped others.

As Lyle and Erik Menendez continue to push for freedom, a Los Angeles judge will decide whether to include a report, which evaluates how much danger the brothers may pose to the public, in court hearings set for next week.