Buckingham Palace on Monday tried to distance Prince Andrew from Jeffrey Epstein's crimes, while half a world away in California details were revealed from a model's long-forgotten complaint against the disgraced financier.

The palace released a brief statement after London's Sunday Mail published video from 2010 that appeared to show Andrew, the Duke of York and eighth in line to the British throne, inside Epstein's Manhattan manse waving goodbye to an exiting woman.

Epstein, 66, hung himself while in federal lockup earlier this month. Already a convicted sex offender, Epstein was being held on sex trafficking charges related to underage girls.

“The Duke of York has been appalled by the recent reports of Jeffrey Epstein’s alleged crimes," the statement says. "His Royal Highness deplores the exploitation of any human being and the suggestion he would condone, participate in or encourage any such behavior is abhorrent.”

Links between the prince and Epstein are not new. They were photographed in Central Park in 2010 after Epstein had completed a controversial, 18-month prison sentence for soliciting a minor. Andrew's connection to Epstein drew criticism in England, and the duke resigned as a British trade envoy a short time later.

Andrew has since publicly described his friendship with Epstein as an error in judgment.

Also Monday, the Associated Press published a report detailing a complaint filed against Epstein at a California police station in 1997. Alicia Arden accused Epstein of groping her when she met with him for what she believed was a modeling interview for a Victoria's Secret catalog.

Santa Monica police, in response a public records request, summarized parts of the detective’s notes to AP. The notes showed that Epstein was questioned soon after Alicia Arden’s complaint and gave a conflicting statement. The detective wrote that Arden did not want to press charges against Epstein but wanted him warned.

Arden, who was 27 at the time, denies telling police she did not want to press charges. Santa Monica police did not immediately respond to a USA TODAY request for comment on the case.

Arden told AP she had sent photos and a résumé to Epstein's New York office, and he asked to meet her. At the meeting, he asked her to undress and assisted in pulling her top off and skirt up, saying, “Let me manhandle you for a second” as he began groping her buttocks.

Arden said she pushed his hands away and left. She told all this to police, she said.

“If they would have taken me more seriously than they did, it could have helped all these girls,” said Arden, an actress and model. “It could have been stopped.”