Prince Andrew escorted the Queen to Prince Philip's memorial in first public appearance since settling lawsuit with Epstein accuser

• Prince Andrew escorted his mother Queen Elizabeth II to Prince Philip's memorial on Tuesday.
• It was his first public appearance since he settled with Virginia Giuffre Roberts, who accused him of sexual assault.

Prince Andrew escorted his mother Queen Elizabeth II to Prince Philip's memorial on Tuesday, marking his first public appearance settling a sexual-assault lawsuit against him.

The Queen held Andrew's arm as they walked down Westminster Abbey. Andrew later took a seat on a different aisle from where the Queen, Prince Charles, Camilla, Duchess of Cornwall, and Princess Anne were sitting.

Andrew was seated next to his brother and sister-in-law, Prince Edward and Sophie, the Countess of Wessex.

The Queen and her son were the last royals to arrive at the service. Andrew had accompanied Her Majesty on the journey to Westminster Abbey from her residence at Windsor Castle.

Andrew and reached a settlement with Virginia Giuffre Roberts last month for an undisclosed sum of money. She accused him of sexually assaulting her when she was a teenager, including at the convicted sex offender Jeffrey Epstein's homes.

The Queen stripped Andrew of his military titles and royal patronages in January, leaving him to face the allegations as a private citizen.

The Daily Telegraph reported that he was paying her around £12 million ($16.3 million) using funds from the Queen's private estate.

Andrew has repeatedly denied the allegations against him.