CFG (start symbol is X):

X → ε

X → L

L → E

L → E L

E → a

E → ( E )

E → [ E ]

Derivation

String Production
X X → L
L L → E L
E L E → a
a L L → E L
a E L E → ( E )
a ( E ) L E → ( E )
a ( ( E ) ) L E → a
a ( ( a ) ) L L → E
a ( ( a ) ) E E → [ E ]
a ( ( a ) ) [ E ] E → a
a ( ( a ) ) [ a ]