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Steinfeld said Celeste's mother, Mercedes, had been warned in advance that graphic images would be shown.
"I told her she didn't have to be in the courtroom for this part of the hearing," he said.
"But she said, 'I want to be here to show support for Celeste.' She just put her head down and started crying."
He said he had advised both parents that once they saw the images, they would never be able to "unsee" them.
"I encouraged them to step out for a short period of time, and they decided no - they wanted to be here to show they're supporting their daughter."
"They're an extremely private family," he added. "It's a parent's worst nightmare."
The small downtown Los Angeles courtroom was packed long before Tuesday's hearing began.
Journalists, YouTubers, TikTok creators and members of the public had entered a lottery for one of the limited number of seats to watch the proceedings.
There was a palpable sense of anticipation in the room.
The constant chatter stopped when Burke was brought in.
Wearing an orange jail uniform, he was shackled at the wrists and ankles.
His handcuffs were removed, but he remained chained to his chair throughout the hearing.
He briefly smiled at members of his defence team before quietly responding to the judge with "Good morning, Your Honour", and "Yes, Your Honour".
The atmosphere shifted dramatically once Detective Joshua Byers began his testimony.
Before displaying each graphic image, prosecutor Beth Silverman repeatedly turned to Celeste's parents, warning them about what they were about to see and checking whether they wanted to look away.
At one point, Celeste's mother was comforted by supporters seated beside her.
The girl's body was discovered inside the trunk of a Tesla in September 2025 in a Hollywood tow yard.
Detective Byers described opening a cadaver bag inside the car and finding decomposing human remains, including a torso and a head, with another black refuse bag underneath containing severed limbs.
He told the court Celeste's body had decomposed so severely her face was no longer recognisable.
The court also heard evidence showing purchases delivered to Burke's address under an alias after Celeste's death, including chainsaws, body bags and an inflatable pool.
Investigators allege the items were used to dismember and conceal Celeste's body.
The court heard about tattoos prosecutors say connected Burke and Celeste.
The judge was shown photographs of a red-ink tattoo reading "Celeste" on Burke's left ring finger, as well as a "Shhh..." tattoo on his right index finger.
Prosecutors showed a photograph of Celeste with a similar "Shhh..." tattoo on her right index finger and another picture of a hand where the ring and little finger were cut off.
The preliminary hearing is expected to last several days, with prosecutors planning to call additional witnesses as they seek to establish enough evidence for the case to move to a jury trial.
