He said he had stayed "in a number of his residences".
Paraphrasing what Prince Andrew claimed in his statement, he barely knew Jeffrey and saw him infrequently, sometimes one or two times per year.
"I deplore the exploitation of any human being and would not condone, participate in, or encourage any such behaviour", he said Saturday in his statement about Epstein.
Andrew has faced years of public scrutiny surrounding his relationship with the United States financier, who committed suicide earlier this month in a NY prison where he was awaiting trial on sex trafficking charges.
"At no stage during the limited time I spent with him did I see, witness or suspect any behaviour of the sort that subsequently led to his arrest and conviction", he added.
The party Jeffrey Epstein, which was held 2nd December 2010 at Epstein's NY mansion in honor of The Duke of York, was reportedly attended by multiple celebrities, including former White House communications director turned ABC anchor George Stephanopoulos, journalist Katie Couric, film director Woody Allen, as well as actresses Jennifer Aniston, Chelsea Handler, and Gwyneth Paltrow.
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In a statement released Saturday, the Duke of York said that what he knew of Epstein was "evidently not the real person, given what we know now", offering sympathies to the financier's alleged victims. He had pleaded guilty to soliciting prostitution and had registered as a sex offender as part of a deal with federal prosecutors in Florida to resolve more severe charges. One of them, was Virginia Giuffre who claimed that she was both forced to have sex with Epstein and was "loaned out" to his friends - including Andrew.
Last weekend, the Mail on Sunday published video footage of Andrew inside Epstein's NY home, peering out from behind a large door and waving goodbye to a young woman.
He also said he had "tremendous sympathy for all those affected by Epstein's behavior".
He acknowledged that it was a "mistake" to meet Epstein after the American was released from prison.
Epstein, 66, killed himself August 11 while awaiting trial on charges of sex trafficking and conspiracy.
Prince Andrew condemned Epstein's crimes in his statement. "His Royal Highness deplores the exploitation of any human being and the suggestion he would condone, participate in or encourage any such behaviour is abhorrent".
Lawyers for Epstein's accusers have demanded that Andrew disclose whatever he knows about the financier's behaviour, even more pointedly since Epstein's suicide this month in a NY jail. The reports prompted the British royal family to issue an unusually blunt denial that described the allegations as "false and without any foundation".