A New York woman who said she was sexually assaulted by Jeffrey Epstein at the age of 14 has sued the disgraced financier's estate and a former associate — the first of an expected wave of lawsuits.

Key points: Prosecutors said Epstein recruited girls to give him massages, which became sexual

Prosecutors said Epstein recruited girls to give him massages, which became sexual The lawsuit said Ghislaine Maxwell facilitated Epstein's abuse of several girls by overseeing their recruitment

The lawsuit said Ghislaine Maxwell facilitated Epstein's abuse of several girls by overseeing their recruitment Another three unnamed female defendants included a maid, a secretary, and a "recruiter"

Jennifer Araoz, 32, said in her complaint that she was starting out in high school when an Epstein associate brought her to the financier's massive mansion on Manhattan's Upper East Side, beginning a grooming process that led to months of sexual abuse, including what she called a "brutal rape".

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The lawsuit in New York County Supreme Court is among the first of a series by women made possible by the state's Child Victims Act, which opened a one-year window to sue over alleged sexual abuse regardless of how long ago it occurred.

Epstein, who was arrested on July 6 and pleaded not guilty to charges of sex trafficking involving dozens of underage girls between 2002 and 2005, died in custody at age 66 on Saturday of an apparent suicide.

He had been found unresponsive in his cell at the Metropolitan Correctional Centre in Lower Manhattan, prison authorities said.

Space to play or pause, M to mute, left and right arrows to seek, up and down arrows for volume. Watch Duration: 33 seconds 33 s Van reportedly carrying Jeffrey Epstein's body departs hospital

'First step toward reclaiming my power'

Ms Araoz told reporters on a conference call she was "angry" that Epstein's death meant he would never face her in court, but she wanted to exercise her legal rights in civil court.

"Today is my first step toward reclaiming my power Jeffrey Epstein and his enablers stole from me," she said.

"They robbed me of my youth, my identity, my innocence and my self-worth."

Prosecutors said Epstein recruited girls to give him massages, which became sexual in nature.

Space to play or pause, M to mute, left and right arrows to seek, up and down arrows for volume. Watch Duration: 1 minute 34 seconds 1 m 34 s Jennifer Araoz says she was raped by Jeffrey Epstein when she was 15

Ms Araoz's lawsuit described Epstein's massage room as having a ceiling painted as a blue sky with clouds and angels, "to give the appearance that you were in heaven".

It also detailed a variety of alleged misconduct by Epstein, including what she called an insinuation that she owed him because of the money he paid her.

"I take care of you, you take care of me," the complaint quoted Epstein as saying.

Jeffrey Epstein faced federal charges of sex trafficking prior to his death. ( Reuters: Florida Department of Law Enforcement )

Ms Araoz also accused Epstein of having failed to use a condom during the alleged rape, which she said led her to suffer a "panic disorder" that was exacerbated by her father's recent death from AIDS.

The lawsuit said his former associate Ghislaine Maxwell facilitated Epstein's abuse of several girls by overseeing their recruitment and "ensuring that approximately three girls a day were made available to him for his sexual pleasure".

The other three unnamed defendants in Ms Araoz's lawsuit, all women who allegedly worked for Epstein in New York, include a maid, a secretary, and a "recruiter" who helped procure underage girls for him.

Dan Kaiser, a lawyer for Ms Araoz, said on the conference call that holding Epstein's "adult enablers" responsible was "a very large part of this story".

"[Maxwell] is absolutely culpable for the injuries that these girls sustained," Kaiser said.

Guards placed on leave amid 'serious irregularities'

Space to play or pause, M to mute, left and right arrows to seek, up and down arrows for volume. Watch Duration: 36 seconds 36 s William Barr says 'serious irregularities' were found at Jeffrey Epstein's prison

Epstein had been on suicide watch since the arrest but a source familiar with the matter who spoke on condition of anonymity said he was not on watch at the time of his death.

US Attorney General William Barr on Tuesday ordered the transfer of Epstein's jail warden, after condemning "serious irregularities" at the facility. Two guards were placed on leave.

Mr Barr also said the criminal investigation into Epstein's alleged sex trafficking and the role of possible co-conspirators would continue.

President Donald Trump has called for an investigation into Epstein's death. FBI agents were expected to visit the Manhattan jail on Wednesday, MSNBC said.

It is not known if Epstein had a will. His lawyers last month said Epstein had about $559 million in assets, including two private islands and four homes, and that the Manhattan mansion was worth about $77 million.

To obtain damages in civil lawsuits against Epstein's estate, victims would need to prove claims by a preponderance of the evidence, not beyond a reasonable doubt as in a criminal case.

ABC/wires