A Los Angeles judge has resentenced two brothers who are serving life in prison for the 1989 murders of their parents in a Beverly Hills mansion, making them eligible for parole.

Judge Michael Jesic gave Erik and Lyle Menendez a new sentence of 50 years to life. A decision on their potential release will be made at a parole hearing in June.

The pair have acknowledged killing Kitty and Jose Menendez, but said they acted out of self-defence after years of abuse and have since been rehabilitated.

Prosecutors have argued the brothers meticulously planned the shotgun killings to access their parents’ fortune, are yet to take responsibility and should not be released.

The court heard relatives detail how the case affected their family, and pleading for the judge to allow the siblings’ release from prison.

The brothers’ cousin, Anamaria Baralt, who has been close with them since they were children, told the judge they deserved a “second chance at life”.

“It’s been a nightmare,” she said. “I am desperate for this process to be over.”

At times, both Erik and Lyle appeared emotional as family recounted how their crimes have impacted them. Both wiped their eyes at times, with Erik covering his mouth or putting his head in his hands at other moments.

Ms Baralt speaks with Erik and Lyle frequently, she told the court, and testified that they’ve taken “ownership of their actions”.

She said they admitted they tried to steer their previous trial – with Lyle telling her he’d asked a witness to lie when testifying.

“They are very different men from the boys they were,” she said.