Princess Beatrice went to visit her family's home in Windsor, marking her first public outing since Prince Andrew gave up his royal title last week. Photos obtained by Hello! Magazine showed Beatrice, 37, driving her black Range Rover to Royal Lodge on Tuesday, October 21. Beatrice kept it casual for the outing, with her hair in a bun on the top of her head, as she went to visit Andrew, 65, and her mother, Sarah Ferguson, at their home. Beatrice and her sister, Princess Eugenie, were set to attend the British Museum's Pink Ball on Sunday, October 19. However, Hello! confirmed that they both skipped out in the wake of their father's scandal. Eugenie, 35, has yet to be spotted out publicly. Beatrice's visit to her parents' house came on the same day that the late Virginia Giuffre's memoir, Nobody's Girl, was published. In the book, she detailed the alleged sexual abuse she suffered at the hands of late billionaire sex trafficker Jeffrey Epstein and Andrew. Will Princess Eugenie and Beatrice Lose Titles After Dad Andrew Gives Up His? Giuffre went public with allegations against Andrew in 2019, initially claiming that they had a sexual encounter when she was underage in 2001. "In the years since, I've thought a lot about how he behaved," Giuffre wrote in her memoir. "He was friendly enough, but still entitled - as if he believed having sex with me was his birthright." Giuffre recounted two other times they were allegedly involved in her book, one of which included an apparent orgy with Epstein and other women. (Epstein died at age 66 in August 2019 while being held at the Metropolitan Correctional Center in New York City.) "The other girls all appeared to be under the age of 18 and didn't really speak English," Giuffre claimed. "Epstein laughed about how they couldn't really communicate, saying they are the easiest girls to get along with." Andrew has continued to vehemently deny Giuffre's allegations against him. Giuffre eventually sued Andrew for sexual abuse in 2021. They settled outside of court the following year. Giuffre died by suicide at age 41 earlier this year. Prince Andrew Accuser Virginia Giuffre's Family Sends Message to the Royals Ahead of Giuffre's book release, Andrew announced that he decided to give up his royal title. The decision came as the former Duke of York continued to make headlines for his connection to Epstein. Andrew previously claimed that he and Epstein cut off all contact in December 2010. However, emails between the two released this year were dated 2011. "In discussion with The King, and my immediate and wider family, we have concluded the continued accusations about me distract from the work of His Majesty and the Royal Family," Andrew shared in a statement to Us on Friday, October 17. "I have decided, as I always have, to put my duty to my family and country first. I stand by my decision five years ago to stand back from public life." He added, "With His Majesty's agreement, we feel I must now go a step further. I will therefore no longer use my title or the honors which have been conferred upon me. As I have said previously, I vigorously deny the accusations against me."