Prince Andrew 'grabbed Virginia Roberts' bottom and ground himself on her during visit to Jeffrey Epstein's "paedophile island" in Caribbean,' Netflix documentary claims

• The four-part Netflix series called Jeffrey Epstein: Filthy Rich set to air this week
• Andrew quit public duties over dramatic fallout from his friendship with Epstein
• Steve Scully claims he saw the Prince kissing Miss Roberts and grabbing her

Prince Andrew allegedly grabbed Virginia Roberts bottom and grinded himself on her during a visit to Jeffrey Epstein's 'paedophile island', a new Netflix documentary has claimed.

The four-part series called Jeffrey Epstein: Filthy Rich is set to air this week and will interview a number of the convicted sex offender's victims'. 

Prince Andrew quit public duties over the dramatic fallout from his friendship with the paedophile Epstein.

The makers of the documentary talk to 70-year-old Steve Scully who claims he saw Prince Andrew kissing Miss Roberts and grabbing her bottom on the Caribbean island, as reported by The Sun.

He told the documentary he saw Andrew with a blonde woman wearing a bikini in a pool.

In an interview he said: 'It was probably around 2004, I saw Prince Andrew. He was at the pool. He was with at that time an unknown girl to me.

'She was young, She didn't have any top on. They were engaged in foreplay. He was grabbing her, and grinding against her.'

The internet specialist, who used to work for Epstein, previously told The Sun on Sunday that he saw the duo kissing.

He added: 'He [Prince Andrew] was grabbing her ass and stuff like that. They were kissing.

'He was grinding against her and groping her.'

The 70-year-old added:  'They were initially lying on lounge chairs by the pool.

'When they stood up, they were in between the chairs.

'She wasn't resisting in any manner whatsoever. The look on Andrew's face was excitement.

'They were bumping and grinding and fooling around for five, six, seven minutes and they then laid back down on the lounge chairs and continued.'

Mr Scully added that  he later spoke to Andrew while the duo were holding hands on a pathway. 

Giuffre's lawyer, David Boies, said she does not remember the specific incident described by Scully. 

A close friend of Prince Andrew's said: 'We question why it has taken this witness nearly 20 years to come forward to share his recollections, but it perhaps explains why they are somewhat faulty. 

'The Duke was actually staying on the island with his girlfriend at the time, a woman in her 30s. As usual, there is no accusation of any criminality, just insinuation and innuendo designed to traduce the Duke - the latest in the on-going smear campaign - waged now for some 10 years.' 

The documentary which comes out later in the week will be another set back for Prince Andrew who has been dogged by allegations over his friendship with Epstein.

Last year he took part in a car crash interview on Newsnight with Emily Maitlis where he attempted to 'set the record straight' by speaking about the sex allegations against him.

But he was widely condemned for showing a lack of remorse over his friendship with a convicted paedophile. 

As part of the interview he denied that he slept with Virginia Roberts. 

He also tried to rubbish her story by suggesting her claims he had been 'sweating' when they met at Tramp nightclub in London were wrong because 'I have a peculiar medical condition which is that I don't sweat'.

The duke denied he had sex with her on three separate occasions, saying the encounter in 2001 did not happen as he had taken his daughter Princess Beatrice to Pizza Express in Woking for a party, and they spent the rest of the day together. 

Prince Andrew's representatives have been approached for comment.