Virginia Roberts Giuffre says she was a trafficking victim made to have sex with Prince Andrew when she was 17. Picture: BBC Panorama via AP/African News Agency (ANA)

London – Prince Andrew faced fresh humiliation on Monday night as his accuser told of the night she claims they had sex.

In excruciating detail, Virginia Roberts alleged she was “grossed out” by dancing with the sweat-soaked royal and felt sick at realising she was expected to have sex with him at the age of 17.

On BBC’s Panorama she broke down in tears as she described how she said she was “abused by a member of the Royal Family”.

She said she was trafficked by Andrew’s friend Jeffrey Epstein and given instructions about the prince by Ghislaine Maxwell, the billionaire paedophile’s then girlfriend. Andrew has repeatedly and categorically denied having any sexual contact with Miss Roberts – denials she labelled as lies. She said she had felt scared because Andrew and Epstein were powerful, adding: “I just didn’t expect it from royalty. I didn’t expect it from someone that people look up to and admire in the Royal Family.”

Describing their alleged sexual encounter, she said: “It didn’t last very long, the whole entire procedure. It was disgusting. He wasn’t mean or anything but he got up and said “Thanks” and walked out. I sat there in bed just horrified and ashamed and felt dirty. I had to get up and have a shower.”