HRH Prince Andrew, Duke of York on July 11, 2019 in Harrogate, England. Ian Forsyth | Getty Images

Prince Andrew announced Wednesday that he will "step back from public duties for the foreseeable future" because of the continuing controversy over the British royal's past friendship with convicted sex offender Jeffrey Epstein. Andrew also said he is willing to help law-enforcement investigations of the deceased wealthy investor and of Epstein's possible co-conspirators in his crimes. "It has become clear to me over the last few days that the circumstances relating to my former association with Jeffrey Epstein has become a major disruption to my family's work and the valuable work going on in the many organisations and charities that I am proud to support," the Duke of York said in a statement. Andrew, 59, said he had asked for and received permission to withdraw from public duties from his mother, Queen Elizabeth II, who on Wednesday celebrated the 72nd anniversary of her marriage to Prince Philip, the Duke of Edinburgh. Andrew's duties include serving as patron of more than 200 charities. The announcement came days after Andrew gave a disastrous interview with the BBC in which, among other things, he denied having sex years ago with one of Epstein's accusers, Virginia Giuffre, as she has claimed.

Prince Andrew with Virginia Giuffre and Ghislain Maxwell. Source: Attained through court documents.

On the heels of that interview, the auditing firm KPMG said it would not renew its sponsorship Andrew's initiative to boost entrepreneurship, known as Pitch@Palace, and the drug firm AstraZeneca said it was reviewing its involvement. "I continue to unequivocally regret my ill-judged association with Jeffrey Epstein," Andrew said in his statement Wednesday. "His suicide has left many unanswered questions, particularly for his victims, and I deeply sympathise with everyone who has been affected and wants some form of closure," the prince said. "I can only hope that, in time, they will be able to rebuild their lives. Of course, I am willing to help any appropriate law enforcement agency with their investigations, if required." The U.S. Attorney's Office in Manhattan is continuing their probe of Epstein even after his death, and is focused on people who may have abetted his alleged sexual abuse of dozens of underage girls from 2002 through 2005 at his massive townhouse in New York City and his mansion in Palm Beach, Florida. A spokesman for U.S. attorney's office declined to comment. In addition to Andrew, Epstein's former friends including Presidents Donald Trump and Bill Clinton.