Though he admitted that visiting him was a mistake.
Andrew will apparently be confronted with allegations made by Epstein's "slave" Virginia Roberts that she was flown to London on the American's private jet, nicknamed the "Lolita Express", for sex with the prince.
The prince told interviewer Emily Maitlis he was in fact "at home with the children" on the March 2001 night in question, after earlier taking his daughter, Princess Beatrice, to a pizza restaurant.
"This first came out in 2011.It was a surprise to all of us because the photographs were published at a different time to when I was there.as a family we discussed it", he said.
Virginia Roberts claims Epstein flew her to the United Kingdom to have sex with the prince.
Prince Andrew & the Epstein Scandal' airs on BBC 2 at 9pm on Saturday.
Prince Andrew also denied knowing anything about Epstein's crimes against underage girls prior to his conviction. "During the time I knew him, I saw him infrequently and probably no more than only once or twice a year".
The prince faced uncomfortable questions over staying with Epstein at his Manhattan townhouse shortly after his release from prison, when he was captured on video waving goodbye to a woman at the front door.
Roger Stone guilty of witness tampering, lying to Congress
WikiLeaks dumped a series of damaging emails about Hillary Clinton that were stolen from the Democratic party by Russian hackers. Paul Manafort, a former chairman of Trump's campaign, is now serving more than seven years in prison for conspiracy to defraud.
Trump will meet with vaping industry officials to address 'e-cigarette dilemma'
The cases were reported to the CDC from 49 states, (all except Alaska), the District of Columbia, and one USA territory. According to the Associated Press news agency, the death in IL is the first from a vaping-related illness in the US.
Saugus High Shooter Dead from Self-Inflicted Gunshot Wound
In a statement, Bryan and Cindy Muehlberger said they shared the news of their daughter's death with "unexplainable brokenness". The sheriff's office has identified one of Berhow's classmates killed Thursday as 15-year-old Gracie Muehlberger.
Members of the royal family normally never submit to on-camera grillings.
Fox News Correspondent Bryan Llenas reports on how the executors of Jeffrey Epstein's estate is trying to establish an abuse victims fund to compensate them. Epstein died August in an apparent suicide in a federal jail after being convicted on sex trafficking charges involving minors.
Diana's interview was said to be the model for the Duchess of Sussex's emotional heart-to-heart with ITV's Tom Bradby last month about the impact of press intrusion on her life with Prince Harry and their son, Archie.
Royal insiders have revealed that the Duke of York insisted he was "not doing Newsnight" weeks before agreeing to his top aide's suggestion that he do the interview - which was yesterday branded a PR "disaster".
"I can absolutely categorically tell you it never happened", Andrew said, referring to her claim that they had had sex.
Prince Andrew said he recalled that evening because he had gone to a pizza party that afternoon, which was " a very unusual thing for me to do". "It has been, what I would describe as a constant sore in the family", Andrew said, adding that the whole thing had become "almost a mental health issue that has been nagging at me".
Asked if he regretted the "whole friendship with Epstein", Andrew said: "Now, still not, and the reason being is that the people that I met and the opportunities that I was given to learn either by him or because of him were actually very useful".
The duke also denied having bought Ms Giuffre a drink.