Prince Andrew will claim he has “no recollection” of meeting a woman who said she was forced into a sexual encounter with the Duke in his first televised interview on his relationship with convicted paedophile Jeffery Epstein.

In a “no holds barred” interview with Newsnight presenter Emily Maitlis due to be screened tomorrow, the Duke of York also said he “kicks himself” for continuing to associate with the disgraced New York financier even after he was convicted of soliciting prostitution from a minor in 2010.

Epstein, 66, was found dead in his New York prison cell earlier this year after being held on sex trafficking charges.

READ MORE: Duke of York opens up about relationship with paedophile Jeffrey Epstein

It will be the first time the duke has answered questions on his relationship with Epstein, though he denied claims levelled against him by Virgina Roberts, now known as Virginia Giuffre, during a public appearance in 2015.

During the interview, Maitlis asks the Duke about an incident in 2001, the first time Giuffre allegedly met the Prince in London.

She said: “One of Epstein’s accusers, Virginia Roberts has made allegations against you. She says she met you in 2001, she says she dined with you, danced with you at Tramp Nightclub in London.  She went on to have sex with you in a house in Belgravia belonging to Ghislaine Maxwell, your friend. Your response?”

The Duke replies: “I have no recollection of ever meeting this lady, none whatsoever.”

Previously, a photograph showing Andrew with his arm around Giuffre’s waist, reportedly taken that night, was circulated among the press.

However, the Prince has consistently stated the photo, which also features Maxwell in the background, was faked.

The Duke was also quizzed on his continued relationship with Epstein, even after he served 13 months of an 18-month sentence for prostitution of a minor.

Epstein was allowed out on work release for much of his sentence and was pictured walking with Andrew in Central Park in 2010.

READ MORE: 'Serious irregularities' at Jeffrey Epstein jail are probed

During the interview, the Duke said: “I stayed with him and that’s…that’s…that’s the bit that…that…that, as it were, I kick myself for on a daily basis because it was not something that was becoming of a member of the royal family and we try and uphold the highest standards and practices and I let the side down, simple as that.”

The interview, recorded at Buckingham Palace on Thursday, will air on BBC Two at 9pm on Saturday.