Sirhan, 77, was granted parole after two of Kennedy’s sons said they supported 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.
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.
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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.