Simpson, now 69, was convicted in 2008 for participating in an armed robbery and the kidnapping of two sports-memorabilia dealers in a Las Vegas hotel room. He claimed that he was simply trying to get back keepsakes that had been stolen from him and didn't know the other men were carrying weapons. The jury rejected his account, and Simpson was convicted and sentenced to 33 years in a Nevada prison.
Baker also told Inside Edition that she talks to her brother once a week and visits him four times a year.
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It's been over two decades since the murders of Brown Simpson and Goldman, but the trial of the 20th century continues to captivate the nation. Ryan Murphy's series American Crime Story: The People vs. O.J. Simpson received critical acclaim and commercial success, and ESPN's five-part documentary O.J.: Made In America aired shortly thereafter.