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Speaking on CBS News’ Face the Nation, Kennedy praised Thune personally but argued the Senate leader has been too cautious.
Republicans have repeatedly attempted to bring the bill up for consideration in the Senate, but Democrats have blocked those efforts.
Kennedy argued the proposal is important for maintaining confidence in federal elections.
He said voters should prove they are eligible before registering and that election results should generally be known on Election Day or shortly afterward.
“I think we can pass it … but we’re not going to know if we don’t try,” Kennedy added.