Simpson, 66, is now pleading with the Nevada parole board to end his prison sentence early.
His experiences in prison, he told the parole board, "have been somewhat illuminating at times and painful a lot of times.
"I missed my two younger kids who worked hard getting through high school, I missed their college graduations. I missed my sister's funeral. I missed all the birthdays."
Simpson says that while incarcerated, he has spent time with several other inmates that are convicted for robberies. The difference in the crimes, he said, is that the others were trying to steal other people's belongings. Because Simpson stole back his own items, he says he should be treated differently.
The parole board will come back with its decision in two weeks. If the majority of the parole board votes in his favor, he will still have to serve at least four more years in prison. His initial 2008 sentence would put him in prison up to 33 years.