A former aide of Jeffrey Epstein claims he saw Prince Andrew grinding on a topless girl and ‘grabbing her ass’ on the late billionaire paedophile’s private island.

Telecoms specialist Steve Scully’s explosive account features in the upcoming 7News documentary Spotlight: Sex, Lies and Videotape which airs on Sunday.

Mr Scully claimed to have seen the duke with a bikini-clad blonde next to a swimming pool on Little St James in the Caribbean between 2001 and 2004.

He alleges this was Virginia Giuffre, who is accusing him of sexual assault when she was 17.

In a trailer for the documentary Mr Scully says: ‘He (Andrew) removed her bathing suit top and then started grinding against her and grabbing her ass.’

‘They were kissing as well. Virginia was standing there, she kinda looked like she was like a deer caught in the headlights of the car.’

Andrew denies the accusations.

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A source close to the duke told The Sun: ‘Mr Scully has been touting his “recollections” around the media “exclusively” for some time, but his account is dubious.

‘He gives a timeframe up until 2004 when he claims to have witnessed an encounter between the duke and Mrs Giuffre, by which time Mrs Giuffre was long since married and no longer working for Epstein.

‘It’s also worth noting that Mrs Giuffre’s own account of her alleged encounter with the duke on Little St James bears absolutely no resemblance whatsoever to Mr Scully’s recollections.’

The duke’s lawyers have attempted to turn the tables on Mrs Giuffre by claiming she looked for ‘slutty girls’ to bring to disgraced financier Epstein.

Andrew’s lawyers filed papers on October 29 asking a New York judge to throw the case out, claiming sensationalism has ‘prevailed over the truth’.

Mr Scully previously said there’s ‘no question in my mind’ that he saw Andrew and Mrs Giuffre together.

He said he could have taken a ‘$50,000 picture’ if he had a camera on him at the time.

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