New England Patriots owner Robert Kraft was driven to at least one of his alleged massage-parlor romps by a pal who entered the business with him — but wisely decided not to stay for a rubdown, police records revealed Monday.

Dairy tycoon Peter Bernon and Kraft both walked into the Orchids of Asia Day Spa in Jupiter, Fla., around 4:45 p.m. on Jan. 19, according to a “case supplemental report” released by the Jupiter Police Department.

Surveillance video recorded the men at the front counter, where Kraft, 77, allegedly handed “several bills of US currency” to a female worker.

“Bernon exits the business and waits outside while Kraft is taken by Wang to a massage room,” the report says.

About 40 minutes later — and after Kraft was allegedly massaged and fondled — he left the room and was spotted getting into the front passenger seat of a white 2014 Bentley driven by Bernon, the report says.

Jupiter Police Agent Michael Nicholson “observed a traffic violation” and contacted Officer Scott Kimbark, who conducted a traffic stop and “positively identified” Kraft by his Massachusetts driver’s license, the report says.

“Bernon was issued a warning for the traffic violation and both he and Kraft were released from the scene,” the report says.

Kraft also allegedly visited the massage parlor the following day and paid for oral sex hours before flying off to watch the Pats clinch a spot in the Super Bowl by beating the Kansas City Chiefs for the AFC Championship.

He was driven away in the passenger seat of a blue 2015 Bentley that a source has previously said was owned by Bernon, but the report released Monday doesn’t identify the car’s driver.

Bernon is a former co-owner of Garelick Farms, which is now owned by the Dean Foods conglomerate. He also founded the Franklin Plastics company, according to Bloomberg.

Bernon and Kraft were spotted dining together at Buccan, a Palm Beach hot spot, the night between Kraft’s alleged massage-parlor visits, The Post has reported.

He didn’t return phone messages seeking comment.

Kraft, who maintains his innocence, has pleaded not guilty to two misdemeanor counts of soliciting prostitution and requested a jury trial.