This is the shocking moment Jimmy Savile was caught groping a young girl on camera.

Pictured rubbing himself against the teenage victim while groping her backside, the vile scene - which plays out in a restaurant - was caught by a cameraman filming with Louis Theroux and further highlights the extent of the late presenter's crimes.

Unbelievably, the incident happened in the presence of the girl's mother, who Savile knew personally.

Theroux's documentary When Louis Met Jimmy aired in 2000, but he continued to meet with the presenter afterwards, and filmed further footage. This incident is believed to have been recorded in summer 2001.

(Image: BBC)

Theroux revisits his encounters with Savile in a new documentary, Louis Theroux: Savile, which airs tomorrow night.

The seedy shot emerged just 24 hours after Theroux admitted he feels "ashamed" over his failure to unmask Savile as one of the most prolific sex offenders of modern times.

In a new documentary, which comes 15 years after he spent 10 days with the paedophile to make When Louis Met Jimmy, he explains: “I wanted to make sense of my own failure to see him for what he was, to see what clues there were in hindsight.

"I wanted to understand how he'd got away with his crimes for so long."

Speaking to some of the victims who were abused by Savile, Theroux is keen to hear what they thought of his 2000 documentary.

In it, Theroux had confronted Savile about the rumours that he was a paedophile, to which he was told: "I know I'm not."

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At another point Savile declared: "I'm not into that underage sh*t."

One victim, Kat Ward, who was forced to give Savile oral sex as a schoolgirl, said: "My reaction was 'poor Louis, he's been hoodwinked'."

Another victim brands him “gullible and silly” saying she was left feeling “really annoyed. Fuming.”

But it wasn’t only Louis who didn’t get to the truth.

While his former PA of nearly 30 years, Janet Cope, describes him as a "good liar", Sylvia Nicol, who worked with Savile for many years at Stoke Mandeville hospital, says: "I only saw good."

Louis, who admits that he struck up a "friendship" with the DJ and TV presenter for several years after the original documentary, feels particularly bad about two women who contacted him soon afterwards about their earlier relationships with Savile.

(Image: Getty)

One of them revealed she’d been 15 at the time, but rather than complaining of abuse, they wanted to point out that they had been Savile’s girlfriends, something he claimed in the film never to have had.

More than a decade later, the two women were among the hundreds who came forward to describe the abuse they had suffered.

"It was upsetting to realise I'd actually met two of the victims while Jimmy Savile was still alive," Louis agonises.

"I wondered if I'd handled the encounter differently they might have said more – or if they simply hadn't been ready."

Victim Sam Brown, who was repeatedly raped by Savile while attending church aged around 11, tells Louis: "He mugged you off by giving you what he wanted to give you."

Louis confesses: “I feel a bit ashamed now – knowing what we know. I knew he had a secret, I just didn't know what it was.

"I accept that I was one of many people who failed to see what he was about.”