Simpson, 70, plans to relocate to Florida following his release from the Lovelock Correctional Center, the medium- security prison in Nevada where he has been serving his sentence, said his lawyer, Malcolm LaVergne.
"He is getting very, very excited," LaVergne told KTNV-TV in Las Vegas. "He's feeling very upbeat."
Simpson was granted parole at a hearing in July and his earliest release date was set for October 1. Since that falls on a Sunday, Simpson is expected to be freed no earlier than Monday, according to his lawyer and media reports.
But the former National Football League running back and actor was sent to prison in 2008 for his role in an armed robbery the previous year of two sports memorabilia dealers at a Las Vegas resort.
Simpson claimed at his trial that he was just seeking to recover personal items from the dealers and he repeated that explanation at his parole board hearing in July, where the four-member panel voted unanimously for his release.
"I had no intent to commit a crime," he said. "If I would have made a better judgment back then, none of this would have never happened."
LaVergne, Simpson's attorney, told KTNV-TV that the former NFL star planned to relocate to Florida, play golf and be around his friends and family.
LaVergne said he did not anticipate that Simpson would pose any problems.
"He's had perfect performance as a prisoner," LaVergne said. "I anticipate he's going to have perfect performance as a parolee."
"Believe it or not I do have some real friends," he said.
- From the NFL to Hollywood -
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Simpson was convicted in October 2008 of armed robbery, assault, kidnapping and other offenses after he and five associates -- two of whom were armed -- ambushed the two sports memorabilia dealers in a casino hotel room.
He was sentenced to a minimum of nine years in prison and a maximum of 33 years.
He retired from football in 1979 after setting numerous rushing records and went on to become an advertising pitchman and actor ("The Towering Inferno," "The Naked Gun").
In June 1994, Simpson's 35-year-old ex-wife, Brown Simpson, and Goldman were found stabbed to death outside her Los Angeles home.
Simpson was arrested after a low-speed car chase through Los Angeles that was broadcast live by television stations and watched by millions.
Public views on the African-American athlete's guilt or innocence divided sharply along racial lines.
Simpson was subsequently found liable for the deaths in a 1997 civil suit and was ordered to pay damages totaling $33.5 million to the families of the victims.
Simpson has been out of the limelight while behind bars, but fascination with his story lives on.
"O.J.: Made in America," a nearly eight-hour documentary about his murder trial, won the best documentary Oscar in February.
And a television mini-series, "The People v. O.J. Simpson: American Crime Story" starring Cuba Gooding Jr, won nine Emmy awards.
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