Kato Kaelin, a key witness in the O.J. Simpson trial, appeared on Fox News' "Jesse Watters Primetime" on Thursday, where he described Nicole Brown Simpson, the former wife of the infamous athlete, as a "beacon of light."

He also reiterated his belief that Simpson was guilty of her murder.

Kaelin was invited to the show to reflect on the life and recent death of Simpson, who was tried in Los Angeles for the murder of Nicole Brown Simpson and her friend Ronald Goldman. Jesse Watters, the host of the show, began the conversation by asking Kaelin about the nature of his relationship with Simpson before he testified in court.

Kaelin responded, "Well I always said this, Jesse, not a really close friend. I always put it in tax terms, he was Danish and I was donuts, so not a close friend. I didn’t hang out. In the time that I was there, probably a handful of times, just hanging out."

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In 1995, Kaelin took the witness stand after being present at Simpson's estate on the night of June 12, 1994, when Nicole and Goldman were murdered, as reported by NBC Los Angeles. Watters further probed Kaelin about his thoughts on Simpson's death at the age of 76 due to prostate cancer, and whether he believed Simpson was guilty of the murders.

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Kaelin expressed his condolences to Simpson's children, Sydney, Justin, Arnelle, and Jason, before stating, "Of course I cherish memories of Nicole. You know, she was a beacon of light, she really was. She was bright and she was funny. People shouldn’t forget that. It’s really about two young beautiful people that were murdered."

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He continued, "I have given my opinion and my opinion is I think he’s guilty. I have that opinion and I still believe that today. I was listening to the show and [you] sort of encapsulated the last 30 years. And I was going oh my – your monologue brought back so much to my feelings. It was like I went back in time – I was thinking about that line about heaven and hell and believing it. Well, you know, on his deathbed, I don’t know if he said a penance or not, but I really believe he is guilty and [don’t know] if he made peace with God or not.”

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Kaelin, who was residing in the guest house at Simpson's Rockingham estate in Los Angeles at the time of the murders, became a significant figure in the trial. His testimony took an unexpected turn when Deputy District Attorney Marcia Clark was permitted to treat Kaelin as a "hostile witness" after he began to provide conflicting details about his time with Simpson on the night of the murders, according to NBC Los Angeles.

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The 1995 trial of Simpson was widely referred to as the "trial of the century," causing a significant divide among the public. Despite being acquitted by a jury, Simpson later served nine years in prison after being convicted in 2008 on 12 counts of armed robbery and kidnapping two sports memorabilia dealers at gunpoint in Las Vegas, as reported by Reuters.