A woman has described in detail how she allegedly had sex with Prince Andrew in 2001 when she was 17 years old.
Speaking to NBC's Dateline, Virginia Roberts Giuffre claimed the incident happened in Ghislaine Maxwell's London house after the royal gave her vodka at a nightclub.
The prince has repeatedly denied he had "any form of sexual contact or relationship" with Ms Giuffre, adding "any claim to the contrary is false and without foundation".
Ms Giuffre is one of 16 women who claim they were abused by disgraced billionaire Jeffrey Epstein.
In her first TV interview, Ms Giuffre insisted she was telling the truth.
She said: "I was so young. Ghislaine woke me up in the morning and said, 'you're going to meet a prince today'.
"I didn't know at that point that I was going to be trafficked to a prince."
She said she went to an exclusive club in London Mayfair with Prince Andrew, Ms Maxwell and Epstein.
"We went out to Club Tramp. Prince Andrew got me alcohol, it was in the VIP section, I'm pretty sure it was vodka," she said.
"Prince Andrew was like, 'let's dance'. I was like, 'okay'. He is a hideous dancer. We leave Club Tramp and I hop in the car with Ghislaine and Jeffrey.
"Ghislaine said he's coming back to the house and I want you to do for him what you do for Epstein.
"I couldn't believe it."
In previously reported on court documents, Ms Giuffre said they went back to Ms Maxwell's townhouse where she and Prince Andrew had sex.
She alleged: "He wasn't rude about it. He said thank you and some kind of soft sentiments like that and left.
"I just couldn't believe it. I couldn't believe that even royalty were involved.
"He denies that it ever happened, he's going to keep denying that it ever happened but he knows the truth and I know the truth."
Prince Andrew, 59, has been dogged by accusations of a lack of judgement about his links with Epstein, who was found hanged in his prison cell in New York on 10 August.
The disgraced financier was facing a 45-year sentence if convicted of multiple counts of sexually abusing underage girls.
Prince Andrew has admitted knowing Epstein since 1999 but "saw him infrequently" - and said in a statement: "At no stage during the limited time I spent with him did I see, witness or suspect any behaviour of the sort that subsequently led to his arrest and conviction."
Ms Maxwell has been accused of facilitating Epstein's abuse of several girls by overseeing their recruitment and "ensuring that approximately three girls a day were made available to him for his sexual pleasure", according to court documents.
The 57-year-old, a former girlfriend of Epstein, has denied any wrongdoing.
Ms Giuffre, who claimed she had sex with the duke three times, including an "orgy" on his private island in the Caribbean, was speaking alongside five other Epstein accusers.
A previous Buckingham Palace statement said: "The Duke of York has been appalled by the recent reports of Jeffrey Epstein's alleged crimes.
"His Royal Highness deplores the exploitation of any human being and the suggestion he would condone, participate in or encourage any such behaviour is abhorrent."