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The woman who has repeatedly said she slept with Prince Andrew when she was a teenager has filmed an interview with BBC’s Panorama, it has emerged.

Virginia Giuffre, 35, filmed the interview three weeks ago, during which she reportedly reiterates her claims to have slept with the Duke of York when she was aged 17.

The 35-year-old, then known as Virginia Roberts, is one of at least 16 women who allege they were abused by convicted paedophile - and one-time friend of the duke - Jeffrey Epstein.

Ms Giuffre, has previously said she was forced to meet with Prince Andrew on a number of occasions and he "knows the truth". The duke has always denied any wrongdoing.

She is said to be furious that her interview has not yet been aired, despite being recorded long before the duke appeared on BBC Newsnight to deny her accusations against him.

During the hour-long interview Prince Andrew told the BBC’s Emily Maitlis he had “no recollection” of meeting Ms Guiffre and that he “absolutely, categorically” never had sex with her.

Following the broadcast, a source close to Ms Guiffre told The Mirror: “She has made no bones about her thoughts on the duke’s denial, and did not to ­Panorama.

“She has asked him to ‘come clean’, but she feels if anything he’s put more dirt in the water.”

The source added: ““All other broadcasters have aired their interviews almost immediately but not the BBC. Several people working on Virginia’s case question why it has been held back and wonder if it was not to jeopardise the ­interview with the duke.

“During her interview, she was asked why she thought Andrew had remained silent. Of course that now is no longer the case.”

It is understood that the BBC Panorama interview has not yet been aired as it forms “part of a larger ­investigation”.

A spokesman for the broadcaster said: “We never comment on an ongoing investigation.”

It comes two months after Ms Guiffre’s first televised interview, broadcast on NBC’s Dateline programme in September.

Appearing alongside five other allege victims, Ms Giuffre said she was forced into sexual encounters with Andrew in London, Epstein's New York mansion and at a property in the US Virgin Islands.

Ms Giuffre first made her allegations in a British tabloid newspaper in 2011, in which she said Epstein had held her as a sex slave, lending her out to his high profile friends, including them Prince Andrew.

Her allegations against the duke, which he categorically denies, were struck from US civil court records in 2015 after a judge said they were "immaterial and impertinent".

However, Ms Giuffre insisted during her Dateline appearance: “He's going to keep denying that it ever happened. But he knows the truth.

“He knows exactly what he's done - and I hope he comes clean about it.”

The Standard has contacted the BBC and Ms Giuffre's legal representatives for comment.