Prince Andrew, from left, Virginia Giuffre and Ghislaine Maxwell pictured inside Maxwell’s London townhouse in March 2001. "I asked Epstein to take our picture with my disposable camera. Hours later, I was forced to have sex with the prince," Giuffre writes in her posthumous memoir.

This story contains graphic descriptions that some readers may find disturbing.

The curtain on Prince Andrew's alleged relationships with Jeffrey Epstein and Virginia Giuffre is getting pulled back.

The former Duke of York, who's long been rumored to have ties to the late sex offender and his outspoken accuser, is one of the subjects of Giuffre's posthumous memoir, "Nobody's Girl: A Memoir of Surviving Abuse and Fighting for Justice" (out Oct. 21.) The book details Giuffre's accounts of being purportedly sex trafficked by Epstein and his longtime associate, British socialite Ghislaine Maxwell, to several prominent men as a teenager.

The FBI concluded that Epstein died by suicide in a Manhattan jail in August 2019 at age 66 while awaiting federal sex trafficking charges. Six years after the financier's death, Giuffre died by suicide in April at age 41.

In 2015, Giuffre accused Epstein of paying her when she was 17 years old to have sex with him, Prince Andrew and some of Epstein's other friends. She alleged that Maxwell lured her into Epstein's circle.

She also filed a sex abuse lawsuit against Andrew in 2021, alleging that she had been trafficked to the British royal family member by Epstein three times around 2001 when she was a teenager. Andrew settled the suit in 2022, although he has vehemently denied the allegations.

Prince Andrew's association with Epstein and Giuffre has affected his standing in the British royal family over the years. Three years after being stripped of his patronages and military associations by Queen Elizabeth II, Prince Andrew renounced his royal titles on Oct. 17 due to the continued accusations against him and the distraction they pose to the royal family.

Buckingham Palace declined to comment on the allegations featured in Giuffre's memoir.

Here's a timeline of the trio's alleged relationship:

March 2001: Jeffrey Epstein allegedly pays Virginia Giuffre $15K to have sex with Prince Andrew

During a trip to London, Giuffre was introduced to Prince Andrew, an "old friend" of Maxwell's, at a dinner with Epstein and Maxwell, Giuffre wrote in "Nobody's Girl."

After dinner, Giuffre claimed that she and the prince, accompanied by Epstein and Maxwell, visited the nightclub Tramp, where she and Andrew danced together and drank cocktails. On the way back home to Maxwell's London residence, the socialite allegedly advised Giuffre, "When we get home, you are to do for him what you do for Jeffrey."

Following their arrival, Giuffre said she drew a hot bath for herself and Prince Andrew, after which the pair had sex. Giuffre noted that Andrew, then 41, was "particularly attentive to my feet, caressing my toes and licking my arches."

Giuffre said Epstein later paid her $15,000 for "servicing the man the tabloids called 'Randy Andy.'" The late sex-trafficking advocate reflected that she "hadn't wanted to have sex with the prince" but felt obligated, in part, because she "believed there was no way for me to free myself from Epstein and Maxwell's grip."

"He was friendly enough but still entitled ‒ as if he believed having sex with me was his birthright," Giuffre wrote of Andrew. "The next morning, it was clear that Maxwell had conferred with her royal chum because she told me: 'You did well. The prince had fun.'"

April 2001: Virginia Giuffre poses for suggestive photo with Prince Andrew

Giuffre allegedly met with Prince Andrew again around April 2001 at Epstein's townhouse in New York. Giuffre, Epstein and Maxwell were joined by the British prince and a woman named Johanna Sjoberg, who Giuffre described as "another one of (Epstein and Maxwell's) victims."

During the hangout, Giuffre said Maxwell gifted Andrew a puppet in his likeness. Maxwell then allegedly directed Giuffre, Sjoberg and Andrew to pose for a group photo with the puppet. Sjoberg purportedly sat on Andrew's lap, while the prince placed a hand on her breast.

"The prince and I sat down next to each other on the couch, and Maxwell put the puppet in my lap, positioning one of its hands on one of my breasts," Giuffre wrote. "The symbolism was impossible to ignore. Johanna and I were Maxwell and Epstein's puppets, and they were pulling the strings."

After the photo was taken, Giuffre said she was sent by Epstein and Maxwell to a bedroom to have sex with Prince Andrew.

Summer 2001: Virginia Giuffre participates in orgy with Prince Andrew, Jeffrey Epstein

Giuffre claimed the next time she had sex with Prince Andrew was during an orgy at Epstein's private island Little Saint James, an incident Giuffre testified to in a 2015 sworn declaration.

"Epstein, Andy and approximately eight other young girls and I had sex together," Giuffre said at the time. "The other girls all seemed and appeared to be under the age of 18 and didn't really speak English. Epstein laughed about how they couldn't really communicate, saying they are the easiest girls to get along with."

Giuffre also cited the deposition of pilot David Rodgers, who said an archived flight log, dated July 4, 2001, reportedly showed that Giuffre, Prince Andrew, Epstein and an unnamed woman flew from Saint Thomas that day back to Palm Beach, Florida.

"I guess it's possible that the orgy I remember occurred in the days leading up to that flight, which would mean I was still 17," Giuffre reflected. "I'll probably never know the date for certain. What I do know, because Epstein told me, is that (Jean-Luc) Brunel, the French modeling agent who was also in attendance, supplied the other girls who took part."

February 2011: Virginia Giuffre agrees to sell Prince Andrew photo to British tabloid

Giuffre, who allegedly had left Epstein's network at age 19 after marrying husband Robbie, was contacted by Daily Mail reporter Sharon Churcher in Churcher's investigation of Jane Doe 102, the anonymous woman who'd accused Epstein of sexual abuse in a civil lawsuit.

"Discovering that a reporter wanted to hear my side, after all this time, was at once validating and terrifying," Giuffre wrote. "I had done so much healing, and I thought other victims of sexual abuse ‒ those hurt by Epstein and Maxwell, of course, but also by others, too ‒ might benefit from hearing what I'd experienced and how I’d survived."

Churcher visited Giuffre at her Sydney home after Giuffre revealed during an earlier conversation that she had a photograph of herself posing with Prince Andrew and Maxwell from her first alleged encounter with the prince. A photographer working with Churcher took several photos of the Kodak camera print.

While Giuffre had been on the fence about going on the record for Churcher's story, she said a publicized photo of Epstein and Prince Andrew walking together in New York City's Central Park, as well as media coverage about a reported house party Epstein threw for Andrew, inspired her to disclose her identity to the press.

Churcher's article, titled "Prince Andrew and the 17‑Year-Old Girl His Sex Offender Friend Flew to Britain to Meet Him," was published in the Daily Mail's sister paper, The Mail on Sunday, in February 2011. The story did not include Prince Andrew's name, as attorneys for the publication allegedly worried about potential legal action.

In addition to The Mail on Sunday article, the Daily Mail published Giuffre's photo of herself with Prince Andrew. Giuffre said she was paid $160,000 for the use of the photo and agreed not to speak to other media outlets for three months: "Today I understand what I didn't then: that taking money from a tabloid publication for an interview or for use of a photo discredits the story even if it's entirely accurate.

"The fact that I received that Daily Mail payment has been used against me repeatedly to undermine the truth of my story," Giuffre continued. "I've been cast as a person who made things up for profit, when in fact, I naively thought that being paid for telling your story was typical. I've never been paid for an interview again."

February 2022: Virginia Giuffre settles lawsuit with Prince Andrew

Giuffre sued Prince Andrew in 2021 on allegations that the prince raped and sexually assaulted her in New York in 2001 and that Andrew was aware Epstein had trafficked the then-teen to him. They settled the lawsuit in February 2022.

Lawyers for both sides filed documents in New York federal court, declaring the parties had reached an out-of-court settlement for an undisclosed sum and a "substantial donation" to Giuffre's charity "in support of victim's rights."

The former Duke of York also expressed regret for his friendship with Epstein in a court statement, adding that he "never intended to malign Ms. Giuffre's character, and he accepts that she has suffered both as an established victim of abuse and as a result of unfair public attacks."

"As with Maxwell, I'd sued Prince Andrew in federal court, which meant a financial settlement was always going to be the prime form of punishment if we were successful," Giuffre wrote.

"But I'd gotten more out of him than that: an acknowledgment that I and many other women had been victimized and a tacit pledge to never deny that again. Finally, my receipt of funds from the settlement has enabled me to finally make good on a long-standing goal of mine: to spend less of my energy unpacking the past and more on helping people in the present."

If you or someone you know has experienced sexual violence, RAINN’s National Sexual Assault Hotline offers free, confidential, 24/7 support to survivors and their loved ones in English and Spanish at: 800.656.HOPE (4673) and Hotline.RAINN.org and en Español RAINN.org/es.

This article discusses suicide and suicidal ideation. If you or someone you know is struggling or in crisis, help is available. Call or text 988 or chat at 988lifeline.org.

Contributing: Karissa Waddick, Anthony Robledo and Maria Puente

This article originally appeared on USA TODAY: Did Prince Andrew know Epstein, Virginia Giuffre? A timeline of their controversies

Reporting by Edward Segarra, USA TODAY / USA TODAY

USA TODAY Network via Reuters Connect