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WASHINGTON, Jan 13 (Reuters) - Sen. Hillary Clinton said on Tuesday the incoming Obama administration wanted to lift travel restrictions on families wishing to visit relatives in Cuba and urged Havana to make its own concessions.

Speaking at her Senate confirmation hearing, Clinton said she hoped the Cuban government would look at freeing political prisoners and open up the economy.

"The president-elect (Barack Obama) is committed to lifting the family travel restrictions and the remittance restrictions. He believes ... that Cuban-Americans are the best ambassadors for democracy, freedom and a free market economy," she said.

Obama has said previously he favors relaxing restrictions on travel and cash remittances.