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.”