LONDON — Virginia Roberts Giuffre recalled a whirlwind trip to London with her employer, the financier Jeffrey Epstein, when she was 17. It began at a townhouse where Prince Andrew was talking about his ex-wife, the Duchess of York. It moved on to a club, where she said she and the prince danced, and he sweated profusely. And it ended when, she said, she was ordered to have sex with him.

“It was disgusting,” Ms. Giuffre said in an interview broadcast Monday by the BBC. “I sat there in bed and felt horrified and ashamed.”

“I had just been abused by a member of the royal family,” she continued. “These powerful people were my chains.”

Ms. Giuffre’s account of the trip in 2001, and of two other incidents when she said she had sex with Prince Andrew at Mr. Epstein’s homes in New York and in the Caribbean, was the first time she described her story for a British audience.