Prince Andrew is making headlines for his connection to Jeffrey Epstein once again, but where does the former Duke of York stand with the royal family? In 2019, the late Virginia Giuffre accused Andrew of sexual assault. At the time, she claimed to have had a sexual encounter with the prince when she was 17 in 2001 at one of Epstein's properties. Epstein's associate Ghislaine Maxwell allegedly orchestrated it. Andrew has vehemently denied Giuffre's allegations against him.