Another document describes an alleged sexual encounter between Ms Giuffre, now 35, and Andrew in a bathtub.
An attorney for Epstein, Reid Weingarten, didn't immediately respond to a request for comment Friday, nor did an attorney for Maxwell. Maxwell and her representatives have previously denied she engaged in sexual abuse or sex trafficking.
For the next year, Epstein allegedly manipulated Araoz into giving him massages that ended with him masturbating while he showered her with gifts and cash. If he would have been convicted of the charges, Epstein would have faced up to 45 years in prison.
He claims he told her that they had demanded sex from her and taken away her passport and threatened her when she refused.
The 66-year-old was awaiting trial on sex trafficking charges, and was being held without bail. That case is ongoing; Dershowitz has filed a motion to dismiss. In a highly unusual statement issued in 2015, Buckingham Palace said "any suggestion of impropriety with underage minors is categorically untrue" and explicitly denied Prince Andrew ever had sexual contact with Giuffre.
They included fresh allegations against the prince, with a deposition from Joanna Sjoberg saying the royal groped her breast when she was 21 at a party at Epstein's mansion, according to the Guardian.
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The southern district of NY, which is prosecuting Epstein for alleged sex trafficking, said: "We're not a party to this litigation so we can't comment". "The Duke has not met with Mr. Epstein since".
Giuffre's lawyers said: "Ms Sjoberg's testimony corroborates Ms Giuffre's account of how defendant recruited her (and others) under a ruse of a legitimate job in order to bring them into the household to have sex with Epstein".
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Ms Giuffre told The New York Times that her husband woke her up early in Australia to share the news that the wealthy financier died on Saturday morning in an apparent suicide. "At that point, she says I'm not supposed to talk about this". They also say additional victims have come forward since the arrest. "But can I remember everybody's name?" She also says she can't recall ever having seen Trump at Epstein's homes in the US Virgin Islands, New Mexico or NY.
Epstein's lawyers say the federal charges that accuse Epstein of recruiting and abusing dozens of underage girls in NY and Florida in the early 2000s should never have been brought. In July, in the wake of the indictment against Epstein, the spokesman, Angel Urena, acknowledged that Clinton had taken a handful of trips on Epstein's plane, but said that "President Clinton knows nothing about the awful crimes Jeffrey Epstein pleaded guilty to in Florida some years ago, or those with which he has been recently charged in NY".