Protecting qubits from noise is essential for building reliable quantum computers. Topological qubits offer a route to this goal by encoding quantum information non-locally, using pairs of Majorana zero modes. These modes form a shared fermionic state whose occupation – either even or odd – defines the fermionic parity that encodes the qubit. Importantly, this parity can only be accessed by a measurement that couples two Majoranas to each other. A promising platform for realizing such qubits is the Kitaev chain, implemented in quantum dots coupled via superconductors. Even the minimal two-site chain hosts a pair of Majorana modes, often called poor man's Majoranas, which are spatially separated but offer limited protection compared to longer chains. Here we introduce a measurement technique that reads out their parity through quantum capacitance. Our method couples two Majoranas and resolves their parity in real time, visible as random telegraph switching with lifetimes exceeding a millisecond. Simultaneous charge sensing confirms that the two parity states are charge neutral and remain indistinguishable to a probe that does not couple the modes. These results establish the essential readout step for time-domain control of Majorana qubits, resolving a long-standing experimental challenge.