Virginia Roberts Giuffre has described in detail how she allegedly had sex with Prince Andrew in 2001 when she was 17 in Ghislaine Maxwell's London townhouse after the royal gave her vodka at a nightclub.

In her first television interview, Giuffre, who went by her maiden name Roberts when the alleged incidents happened - sat down with NBC's Dateline along with five other Jeffrey Epstein accusers, including three who have never spoken publicly before.

The episode will air on Friday September 20 at 10pm EST.

The women say they felt 'let down' by Epstein's suicide and demanded for the people who helped him traffic and abuse them to be brought to justice.

Prince Andrew has repeatedly and vehemently denied Giuffre's accusations, calling them 'false' and 'without foundation' and saying 'any suggestion of impropriety with under-age minors is 'categorically untrue'.

Giuffre, who is now 35, however maintained on Friday that she is telling the truth.

She went on to talk about her first encounter with Prince Andrew that were also in a memoir manuscript which became public last month.

In her notes she went into great detail about how the pair had met up on a crowded dancefloor where she claims he was 'the most hideous dancer' and was 'pouring with perspiration'.

She began: 'He was an abuser, he was a participant.

'The first time in London, I was so young. Ghislaine woke me up in the morning and said, "you're gonna meet a prince today."

'I didn't know at that point that I was going to be trafficked to a prince,' she said.

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Virginia Roberts Giuffre in her first television interview describes alleged sexual encounters with Prince Andrew in 2001 when she was 17

Roberts Giuffre is pictured as a teenager with Prince Andrew in 2001. She says the photo was taken inside Ghislaine Maxwell's townhouse in London where she says they had sex for the first time. She was 17. Prince Andrew vehemently denies her claims and Maxwell has long denied, via court documents, having any involvement in Epstein's sex crimes

“Ghislaine said, ‘He’s coming back to the house. And I want you to do for him (Prince Andrew) what you do for Epstein.’” Virginia Roberts Giuffre shares details about her previous encounter with Prince Andrew at Ghislaine Maxwell’s London townhome. pic.twitter.com/IZVYaIfdTt — TODAY (@TODAYshow) September 20, 2019

'We went out to Club Tramp. Prince Andrew got me alcohol, it was in the VIP section, I'm pretty sure it was vodka.

'He was like, "let's dance." I was like, "OK." We leave club Tramp and I hop in the car with Ghislaine and Jeffrey.

'She says, "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, she said they went back to Ghislaine's townhouse where she and Prince Andrew had engaged in 'foreplay' in the bath and then had sex in the bedroom where she was sleeping.

'He wasn't rude or anything about it, he said, thank you and some kind of soft sentiments like that and left,' Giuffre said in her Friday interview.

Maxwell's townhouse where Roberts Giuffre said she and Andrew had sex after the nightclub. She previously alleged that they had a bath together before engaging in sex

Roberts Giuffre claims the group went to Tramp, a nightclub in London, where she claims Andrew bought cocktails at the bar and danced with her

'I just couldn't believe it, that even royalty were involved.

'He denies that it ever happened, he's going to keep denying that it ever happened bu t he knows the truth and I know the truth.'

In response to allegations she is interested only in money, Giuffre said: 'Unfortunately there's this horrible law called [the] statute of limitations.

'My lawyers have told me [the way] to hold them accountable is through them calling me a liar and I'm not, it's a defamation lawsuit.'

Buckingham Palace previously issued this statement on behalf of the Duke: 'It is emphatically denied that the Duke of York had any form of sexual contact or relationship with Virginia Roberts.

'Any claim to the contrary is false and without foundation.'

De Georgiou also spoke publicly for the first time along with four other women Rachel Benavidez, Chauntae Davis, Jennifer Araoz and Marijke Chartouni.

'The only solace for me is that when a group of people who have experienced trauma of this kind come together united against a common enemy there is a very special bond between us all.

Anousa de Georgiou is the first British woman to publicly accuse Epstein of abuse

Marijke Chartouni, a different accuser, said she found it 'comforting' to be there

Rachel Benavidez also spoke for the first time about her experience with Epstein

Jennifer Araoz, who has spoken publicly before, said she felt 'let down' that Epstein was 'able to commit suicide'

Survivors: These interviews, and more, will air in an all-new special investigative edition of Dateline NBC, Reckoning on Friday night and will feature from left to right (Rachel Benavidez, Chauntae Davis, Jennifer Araoz, Anousa de Georgiou,Marijke Chartouni and Virginia Roberts Giuffre)

'I think the nature of this kid of abuse means you're conditioned to be silenced, isolated, secretive and shameful

'Justice now is holding accountable the perpetrators that helped him and participated with him and encouraging more people to come forward.'

Araoz, who said she was recruited as a teenager outside her Manhattan high school, said she felt 'let down' that he was 'able' to commit suicide.

'It was really upsetting,' she said.

Giuffre added: 'They failed us before, don't fail us again. That's all we're asking. Take us serious.'

The interview comes a month after she stood outside a federal courthouse in Manhattan and delivered a message to Prince Andrew, saying: 'He knows exactly what he's done. And I hope he comes clean about it.'

In the NBC interview, Giuffre Roberts will also talk about her reaction to Epstein's death last month, and the impact it had on her after years fighting to bring him to trial

'It was such a shock to me. I mean when I say, "shock," didn’t have the words. I was in mourning, not because the world lost a monster,' said

'I was not mourning him. I wasn't mourning the death of this man.

'I was mourning the death of my ability to hold this man accountable,' Giuffre Roberts told Savannah Guthrie in a preview for the upcoming interview.

Prince Andrew addressed Epstein's death in this statement issued on August 24.

The interview will also address the sweetheart deal Epstein got from prosecutors, and the relaxed regulations he faced in prison.

Guthrie asks Palm Beach police chief Michael Reiter just how so many things worked out in Epstein's favor in this case.

'There is no explanation. I didn't believe it back then, I don't believe it now,' says Reiter. 'It's just unfathomable to me.'

Giuffre's allegations are not new.

She described them in detail in a memoir manuscript which became public last month in the release of a deluge of documents from her defamation lawsuit against them.

In the memoir, she described going shopping with Ghislaine the morning she met Andrew to find an outfit for them to go dancing.

She also described Andrew arriving at her home in London.

'The knock came at the door just after six o'clock in the evening. Ghislane greeted him and the guard who would wait for his return in the car. She led him down the hall to where Jeffrey and I were sitting. We both stood up and Jeffrey shook his hand, while Ghislane proceeded to introduce me and as I was taught by her was English custom, we both kissed on the cheek.'

Loss: 'I wasn't mourning the death of this man. I was mourning the death of my ability to hold this man accountable,' said Giuffre Roberts

She went on to say that Ghislaine jokingly asked Andrew to guess her age.

'When Andrew guessed correctly, I was seventeen years old, she was surprised, thinking I could have passed for younger,' she said. a

After dinner, once they got to Tramp, she said Andrew went to the bar to get them cocktails.

'Andrew went to the bar to grab us all drinks. He came back with sparkling water for Jeffrey and a cocktail for the rest of us, already knowing that Jeffrey never drank alcohol.

'We downed our glasses and made our way to the crowded dance floor, where I had the Prince's upmost attention.

'Moving his hands across the curves of my body, not to shy away from the fact I, that he was in public, he was whispering sweet nothings into my ear and kissing my neck.

'I would just giggle not really knowing how to reply to an aging man with a bad smile and terrible moves.'

‘He was the most hideous dancer I had ever seen. He was grabbing my hips and he was pouring with perspiration and he had this cheesy smile' she said.

Back at the house, she said she asked Epstein to take a picture of her and Andrew together for her to later show her mother.

'Ghislaine and Jeffrey left us after that,' she said, claiming they then got into the bath together.

'He started licking my toes, between my toes, the arches of my feet. And then we went into the bedroom and he proceeded to make love to me, so to speak,' she said.

Giuffre claimed Epstein paid her $15,000 the following day.

Law and order: Palm Beach police chief Michael Reiter said he has no idea how so many things worked out in Epstein's favor in this case, calling it unfathomable

Kids incorporated: Virginia was 15 when she was recruited while working at the Mar-a-Lago spa to be Jeffrey Epstein's sex slave