A Los Angeles judge resentenced Lyle and Erik Menendez to life with the possibility of parole, which could lead to their freedom after decades in prison.

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.

A hearing that could give Erik and Lyle Menendez a chance at freedom after more than 35 years in prison finally began Tuesday, with the brothers' relatives telling a judge it's time for them to come home.